// *************************************************************************************************
// @fn          update_light
// @brief       Update light status 
// @param       none
// @return      none
// *************************************************************************************************
void update_light(void)
{
	if(!sys.flag.low_battery && light.value >= LIGHT_LEVEL)
	{
		// Config front light duty cicle and blink rate
		light.front_blink = 6;
		light.front_duty = 10;
		
		// Enable front light Timer
		light.front_enable = TRUE;
		Timer0_A1_Start();
		
		// Enable back light Timer
		light.back_enable = TRUE;
		Timer0_A2_Start(); 
	
		// Turn on lights
		set_light(LIGHT_ALL, LIGHT_ON);
	}
	else
	{
		// Disable front light Timer
		light.front_enable = FALSE;
		Timer0_A1_Stop();
		
		// Disable back light Timer
		light.back_enable = FALSE;
		Timer0_A2_Stop(); 
		
		// Turn off lights
		set_light(LIGHT_ALL, LIGHT_OFF);
	}
}

int autobaud(int port) {
  int lighton=0;
  int leastErrors=99999;
  int leastBaud=-1;
  unsigned int chars,errors;
  for(int i=0;i<STANDARD_BAUD_NUM;i++) {
    lighton=1-lighton;
    set_light(port,lighton);
    int result=countCharBaud(port,standardBaud[i],&chars,&errors);
    if(result>0) {
      baud[port]=standardBaud[i];
      set_light(port,OFF);
      return result;
    }
  	if(result==-2) {
	    if(errors<(chars/10) && errors<leastErrors) {
	      leastErrors=errors;
        leastBaud=i;
      }
	  }
	  drainToSD(&uartbuf[port]);
  }
  //No spped was perfect, use the best speed
  if(leastBaud>=0) {
    baud[port]=standardBaud[leastBaud];
	set_light(port,OFF);
	return 2;
  }
  //No speed was close enough, don't use the port
  uartMode[port]=PKT_NONE;
  baud[port]=0;
  set_light(port,OFF);
  return -1;
}

void hexbright::init_hardware() {
  // These next 8 commands are for reference and cost nothing,
  //  as we are initializing the values to their default state.
  pinModeFast(DPIN_PWR, OUTPUT);
  digitalWriteFast(DPIN_PWR, LOW);
  pinModeFast(DPIN_RLED_SW, INPUT);
  pinModeFast(DPIN_GLED, OUTPUT);
  pinModeFast(DPIN_DRV_MODE, OUTPUT);
  pinModeFast(DPIN_DRV_EN, OUTPUT);
  digitalWriteFast(DPIN_DRV_MODE, LOW);
  digitalWriteFast(DPIN_DRV_EN, LOW);
  
#if (DEBUG!=DEBUG_OFF)
  // Initialize serial busses
  Serial.begin(9600);
  Wire.begin();
  Serial.println("DEBUG MODE ON");
#endif
#if (DEBUG!=DEBUG_OFF && DEBUG!=DEBUG_PRINT)
  if(DEBUG==DEBUG_LIGHT) {
    // do a full light range sweep, (printing all light intensity info)
    set_light(0,1000,update_delay*1002);
  } else if (DEBUG==DEBUG_TEMP) {
    set_light(0, MAX_LEVEL, NOW);
  } else if (DEBUG==DEBUG_LOOP) {
    // note the use of TIME_MS/update_delay.
    set_light(0, MAX_LEVEL, 2500/update_delay);
  }
  
#ifdef FREE_RAM
  Serial.print("Ram available: ");
  Serial.print(freeRam());
  Serial.println("/1024 bytes");
#endif
#ifdef FLASH_CHECKSUM
  Serial.print("Flash checksum: ");
  Serial.println(flash_checksum());
#endif

#endif // DEBUG!=DEBUG_OFF
  
#ifdef ACCELEROMETER
  enable_accelerometer();
#endif
  
  // was this power on from battery? if so, it was a button press, even if it was too fast to register.
  read_charge_state();
  if(get_charge_state()==BATTERY)
    press_button();
  
  continue_time = micros();
}

int check_ball(uint32_t d, uint32_t t){
	int found = 0; 
	set_light(LIT_LEFT, LIT_OFF);
	if(d < WALL){ 
		if( d < min.d){
			min.d = d;
			min.t = t;
			printf("Distance: %d Angle: %d NEW MIN!\n", d);
			set_light(LIT_LEFT, LIT_RED);
			found = 1;
		}
	}
	return found;
}

void blinklock(int maintainWatchdog, int blinkcode) {
  if(blinkcode==0) {
    for(;;) {
      set_light(0,ON);
      delay_ms(50);
      set_light(0,OFF);
      set_light(1,ON);
      delay_ms(50);
      set_light(1,OFF);
    }
  } else {
    for(;;) {
      for(int i=0;i<blinkcode;i++) {
        set_light(0,ON);
        delay_ms(250);
        set_light(0,OFF);
        delay_ms(250);
      }
      set_light(1,ON);
      delay_ms(250);
      set_light(1,OFF);
      delay_ms(250);
    }
  }
}

void error_message(char *message){
	printf("%s", message);
	fflush(stdout);
	ev3_clear_lcd();
	ev3_text_lcd_normal(0,0, message);
	while(1){
		set_light(LIT_RIGHT, LIT_RED);
		set_light(LIT_LEFT, LIT_OFF);
		sleep(1);
		set_light(LIT_RIGHT, LIT_OFF);
		set_light(LIT_LEFT, LIT_RED);
		sleep(1);
	}
}

void hexbright::init_hardware() {
  // We just powered on! That means either we got plugged
  // into USB, or the user is pressing the power button.
  pinModeFast(DPIN_PWR, INPUT);
  digitalWriteFast(DPIN_PWR, LOW);
  // Initialize GPIO
  pinModeFast(DPIN_RLED_SW, INPUT);
  pinModeFast(DPIN_GLED, OUTPUT);
  pinModeFast(DPIN_DRV_MODE, OUTPUT);
  pinModeFast(DPIN_DRV_EN, OUTPUT);
  digitalWriteFast(DPIN_DRV_MODE, LOW);
  digitalWriteFast(DPIN_DRV_EN, LOW);
  
#if (DEBUG!=DEBUG_OFF)
  // Initialize serial busses
  Serial.begin(9600);
  Wire.begin();
  Serial.println("DEBUG MODE ON");
#endif
#if (DEBUG!=DEBUG_OFF && DEBUG!=DEBUG_PRINT)
  if(DEBUG==DEBUG_LIGHT) {
    // do a full light range sweep, (printing all light intensity info)
    set_light(0,1000,update_delay*1002);
  } else if (DEBUG==DEBUG_TEMP) {
    set_light(0, MAX_LEVEL, NOW);
  } else if (DEBUG==DEBUG_LOOP) {
    // note the use of TIME_MS/update_delay.
    set_light(0, MAX_LEVEL, 2500/update_delay);
  }
  
#ifdef FREE_RAM
  Serial.print("Ram available: ");
  Serial.print(freeRam());
  Serial.println("/1024 bytes");
#endif
#ifdef FLASH_CHECKSUM
  Serial.print("Flash checksum: ");
  Serial.println(flash_checksum());
#endif

#endif // DEBUG!=DEBUG_OFF
  
#ifdef ACCELEROMETER
  enable_accelerometer();
#endif
  
  continue_time = micros();
}

void setup() {
  set_short("Xrazzicaz' Boot Camp");
  add_property("determinate", "");
  set_light( 75 );
  add_property("no teleport", 1);
  
  set_long("This is a small training room, designed to help the new "
           "adventurer get off to a good start on Discworld.  The air is "
           "stale with the combined stench of sweat, beer, and old "
           "warriors.  Off to one side is a rather unusual training "
           "dummy above which is a small plaque.\n");
  add_item( "face", "As you stare at it, squinting and turning your head "
            "side to side, you realise it looks rather like your old maths "
            "teacher!\n");
  add_item( "floor", "The floor is made of flagstones, cemented together "
            "with centuries of accumulated muck.\n");
  add_item( "wall", "The walls are marked with mysterious stains that may or "
            "may not be blood.  But surely training dummies don't bleed.\n");
  add_item( "ceiling", "The ceiling appears to be dingy patches of plaster "
            "stuck between old oak rafters that have turned black with "
            "age.\n");
/* Make it so you cannot godmother out of here */
  add_property("no godmother", 1);

  add_exit( "combat", PATH + "combat", "door" );
  add_alias( "southeast", "foyer");
}/*setup*/

        void ForwardPositonalLightShader::update_properties(
                                                            const Mat4& trans,
                                                            const RenderEngine& engine) const
        {
            //TODO remove global camera.
            //                auto mvp =
            
            set_uniform_matrix4("transformation_mat", trans);
//            set_uniform_matrix4("camera_mat", engine.get_global_camera()->get_camera_mat());
//            set_uniform_matrix4("projection_mat", engine.get_global_camera()->get_projection_mat());
            set_uniform_matrix4("camera_mat", Locator::get_game().get_camera()->get_camera_mat());
            set_uniform_matrix4("projection_mat", Locator::get_game().get_camera()->get_projection_mat());

            set_uniform_matrix3("normal_mat",  trans.get_mat3().inverse().transpose());
            
            
            
            set_light("positional_light.light", engine.get_active_light());
            
            set_pos_light("positional_light",static_cast<const PositionalLight*>(engine.get_active_light()),trans);
            

//            
            //TODO 
            set_uniform3f("camera_pos", Locator::get_game().get_camera()->get_world_pos());
            set_uniform3f("camera_pos", Locator::get_game().get_camera()->get_world_pos());
            
            set_uniform3f("camera_pos", Locator::get_game().get_camera()->get_world_pos());
            set_uniform3f("camera_pos", Locator::get_game().get_camera()->get_world_pos());
//            //use the new texture
//            material.get_texture("diffuse").bind_texture(m_program_id, m_uniform_map["texture_sampler"]);
        }

void setup() {
   set_short( "uninitialised search room" );
   set_long( "You are in an uninitialized search room.  "
            "This is an example of a room that gets cloned and configured "
            "afterwards.  In this room, it's the function set_marker that's " 
            "used to define its look, and most if the exits as well.  And "
            "the function set_destination that is used to find, possibly "
            "clone and configure, the rooms that fit the keywords you search "
            "for.  The handler called SEARCH in the code, is \""+
            SEARCH +"\" and the one called QUIT_HANDLER, is \""+ 
            QUIT_HANDLER +"\".\n" );
   add_property( "no map", 1 );
   /* set_light sets the amount of light the room has.  See help light
    * for a list of what the number means:)
    */
   set_light( 50 );

   add_exit( "exit", LEARNING +"search", "path" );
   /* add_property is used to add a value to an object, that can later be
    * queried for with query_property.
    * The "commented functions" and "keywords" properties are specific for 
    * rooms in the learning domain and is used to make it possible to search
    * for subjects. 
    * See /d/learning/handlers/search.c for the way this is done.
    */
   add_property( "commented functions", 
                ({ "set_destination", "query_quit_handler", 
                   "query_cloning_info" }) );

create() {
    set_short("Winding Path");
 
    set_long("\
This is a winding, thickly wooded path winding east and west through the\n\
the Forest of Elwoode.  The thick canopy of leaves overhead shelters the\n\
trail almost completely from the elements.  An opening in the vegetation\n\
lies to the north.\n");
 
    add_exit(ROOMS+"garg001", "north");
    /* what the fuck is this? COMMENT any changes, dammit!  - Slider 2/16/2000 */
	// Sorry Slider, the exit was mine to lead to Barrowmere. - Frij
	add_exit("/room/circ/roads/west1b","south");
    add_exit(ROOMS+"path4", "west");
    add_exit(ROOMS+"path2", "east");
 
    add_item("leaves",
"The cool, fragrant leaves protect the path from the elements.\n");
 
    add_item("path",
"The force of many feet through the ages has etched this path deeply into\n\
the earth.  You wonder where it leads.....\n");
 
    add_item("opening",
"It looks dangerous.  You feel a cautious sort of dread as you consider \n\
what may be beyond the vegetation.\n");
 
   add_item("vegetation",
"There's an opening in the vegetation that leads north.\n");
 
   set_light(1);
    add_property("outside");  // added by Frijoles
   reset(0);
}

void setup() {
  set_short( "bedroom" );
  set_long( "This is a small bedroom above the shop.  There is a window "
            "in the north wall.\n");
  
  set_light( 60 );

  // This is usually calculated for you and only needed if you want the room
  // to be bigger than normal.
  set_room_size( 10 ); 

  // set the movement zone.
  set_zone( "Tiny Town");

  /*
   * lots of add_items are needed here to describe all the things in the
   * room.
   */


  add_exit("window", PATH+"shop-ledge", "window");
  add_exit("down", PATH +"item-shop", "stair" );

  // make them move downwards 9feet when they go down the stairs
  modify_exit("down", ({ "downgrade", 9 }));

void setup() {
  set_short("Desert");
  set_long("This is the end of Desert\n");
  set_light( 80 );
  add_exit("east", DESERT + "desert4", "road");
  add_exit("west", DESERT + "desert2", "road");
}

void setup() {
  set_light(100);
  set_short("Small Gods Street outside Temple");
  set_long(
"You are on Small Gods Street outside the Temple of Small Gods.  "+
"A large gateway to the west leads into the Temple.  The "+
"street continues north and south.\n");
 
  add_exit("north", ROOM+"smallgod1", "road");
  add_exit("south", ROOM+"smallgod3", "road");
  add_exit("west", TEMPLE, "gate");
 
  add_item("temple",
"It is the Temple of Small Gods.  It is covered in small statues.\n");
  add_alias("temple of small gods", "temple");
  add_item("gateway",
"This is a large wrought-iron set of gates which have been open for so many years "+
"that they appear to have rusted permanently open.  Various and sundry "+
"religious symbols are situated over the top of the gateway.\n");
  add_alias("gate", "gateway");
  add_alias("gates", "gateway");
  add_item("symbols", "From the look of it the many different symbols are all "+
"collected from the myriad of small obscure gods that are worshipped "+
"in Ankh-Morpork.\n");
  add_alias("symbol", "symbols");
 
  set_zone("ankh morpork");
 
  set_monster(NUM, "city");
}

reset() {
  set_light(1);
  
  set_emotes(1, ({
	"A carriage barrels through the street causing passerbys to flee.\n",
	"Smoke wafts through on the back of a short gust from a nearby hearth.\n",
  }));

void setup() {
  // make sure that the short says "A simple item shop" rather than "The ..."
  add_property( "determinate", "A " );
  
  set_short( "simple item shop" );
  set_long( "This is a nice looking shop.  Obviously your shop would have "
            "a much more interesting description.\n");
  
  set_light( 60 );

  // This is usually calculated for you and only needed if you want the room
  // to be bigger than normal.
  set_room_size( 10 ); 

  // set the movement zone.
  set_zone( "Tiny Town");

  add_exit( "north", TTOWNROADS +"womble01", "door" );
  modify_exit( "nouth", ({
    "exit mess", "Chimes start playing as $N "
      "leave$s through the north door.",
      "enter mess", ({ 
        1,
          "$N enters from the south.",
          "$N enter from the south." }),
      "move mess", "Chimes start playing as you leave the shop.\n"
      }));

void setup() {
  set_short("Plains");
  set_long("This is the end of Plains\n");
  set_light( 80 );
  add_exit("east", PLAIN + "plain5", "road");
  add_exit("west", PLAIN + "plain3", "road");
}

void setup() {
   set_short("add_item room #4, many verbs ");
   set_light(100);

   set_long( "add_item room #4, many verbs \n"
            "Sometimes you have two or more identical verbs - or at least "
            "identical in how you want to treat them.  Take our oak tree "
            "we can cut it, slice it, saw it, etc...  Now all of these have "
            "the same meaning. How do we do this?\n"
            "A large oak.\nA note.\n");
   
   add_item("note", ({ "long", "It can be read.",
      "read", "Here is the code for the tree:\n"
      "    add_item(\"large oak tree\", ({\n"
      "      \"long\",\n"
      "              \"It looks like it is very well protected.\"\n"
      "      ({\"cut\",\"slice\",\"saw\",\"destroy\",\"kill\" }),\n"
      "              \"It seems to have no effect.\\n\"       }});\n\n"
      "Pretty obvious hunh?  Note that kill probably does not work( I "
      "say probably cuz things might change)  That is beacuse user commands "
      "have precidence over object actions in rooms.  Also be aware that a "
      "add_action on an item that a person is holding will most likely stop "
      "your verbs from being used (unless it's coded right:).  Soul commands "
      "do not have precedence, however.  So verbs like \"pick\" which would "
      "normally say \"You pick your nose\" can be trapped appropriately.\n" 
   }) );

void setup() {
//  string *doms, com;
//  int i;
  
  set_light(100);
  set_short("domain-control room");
  add_property("determinate", "the ");
  set_long("You float in nothingness, before a vast turtle, its shell pocked "
    "by asteroid craters. In all directions stars twinkle in the black " 
    "curtain of space.\n" 
"Available commands:\n"
"  list                         : list all domains.\n"
"  list <domain>                : list members of a domain.\n"
"  create <domain>              : create a domain (you are lord).\n"
"  create <domain> <lord>       : create a domain for someone else.\n" 
"  add <creator> <domain>       : add a creator to a domain you own.\n" 
"  delete <creator> <domain>    : remove a creator from a domain you own.\n" 
"  project <cre> <dom> <proj>   : Set the creators project.\n"
"  deputy <cre> <dom>           : Appoint creator as a deputy.\n"
"  undeputy <cre> <dom>         : Remove creator as a deputy.\n"
);

  add_item("turtle", "On its back you can see four elephants, and they bear " +
    "the weight of the disc upon their wide backs.\n");
  add_item("elephants", "The four great elephants labour endlessly in the " +
    "task of turning the disc upon their backs.\n");
  add_item("disc", "The whole discworld, from hub to rim, rides upon the " +
    "elephant's backs.\n");
  add_alias("elephant", "elephants");
  add_exit("north", ROOM+"development", "corridor");
  add_exit("south", ROOM+"site_control", "corridor");
  add_exit("west", ROOM+"access_control", "corridor");
  seteuid("Admin");
} /* setup() */

void reset(int arg) {
  if(arg) return;

  set_light(1);
  add_property("hills");

  set_short("Rolling Hills");
  set_long(LB("You stand on the edge of a great land of rolling hills.  "+
	"A wide track winds its way through here, heading south back to "+
	"the lands of men.  The hum of insects is heard in the air, lending "+
	"a natural feel to this otherwise quiet land.  The hills seem "+
	"empty, and a light mist shrouds the distance."));
  add_item("insects", LB("The sound of crickets and cicadas give the "+
	"only signs of activity here."));
  add_item("hills", LB("The hills that surround you are quiet and "+
	"apparently largely uninhabited, except for insects and small "+
	"animals.  The skies are strangely empty of avians, and you "+
	"see no man-made structures around you.  You intuit an unexplained "+
	"spookiness in this forlorn place, however."));
  add_item("track", LB("The dirt track leads back to the village to the "+
	"south.  It is the only safe road into this land, and thus the "+
	"most travelled, but that is only relative."));
  add_item("mist", LB("The mist, which only obscures the distances, "+
	"lends to the loneliness of the land."));
  add_exit("north","hill2");
  add_exit("west", "hill4");
  add_exit("south","track3");
}