ai.nim

{.optimization: speed.}

import strutils

const TeamName: cstring = "SERS TEAM"

var CurGame: cint = 0
var CurAction: cint = 0
var Teleport: cint = 0
var bGameEnd: cint = 0
var AI_TeamID = 0

var WheelLeft: cint = 0
var WheelRight: cint = 0
var LED_1: cint = 0
var MyState: cint = 0

var SuperObj_X: cint = 0
var SuperObj_Y: cint = 0
var SuperObj_Num: cint = 0

var OtherRob_SMS: cint = 0
var OtherRob_PositionX: cint = 0
var OtherRob_PositionY: cint = 0

var ObjState: cint = 0
var ObjPositionX: cint = 0
var ObjPositionY: cint = 0
var ObjDuration: cint = 0

var MySMS: cint = 0

var US_Front: cint = 0
var US_Left: cint = 0
var US_Right: cint = 0
var CSLeft_R: cint = 0
var CSLeft_G: cint = 0
var CSLeft_B: cint = 0
var CSRight_R: cint = 0
var CSRight_G: cint = 0
var CSRight_B: cint = 0
var PositionX: cint = 0
var PositionY: cint = 0
var TM_State: cint = 0
var Compass: cint = 0
var Time: cint = 0

var TimerDuration: cint = 0

proc setGameID*(GameID: cint): void {.exportc: "SetGameID", dynlib.} =
    CurGame = GameID
    bGameEnd = 0

proc setTeamID*(TeamID: cint): void {.exportc: "SetTeamID", dynlib.} =
    AI_TeamID = TeamID

proc getGameID*(): cint {.exportc: "GetGameID", dynlib.} =
    return CurGame

proc isGameEnd*(): cint {.exportc: "IsGameEnd", dynlib.} =
    return bGameEnd

proc getDebugInfo*(): cstring {.exportc: "GetDebugInfo", dynlib.} =
    let infoData = @[
        "bGameEnd=$1" % [$bGameEnd],
        "TimerDuration=$1" % [$TimerDuration]
    ]
    
    let info = infoData.join(";") & ";"
    return info

proc getTeamName*(): cstring {.exportc: "GetTeamName", dynlib.} =
    return TeamName

proc getCurAction*(): cint {.exportc: "GetCurAction", dynlib.} =
    return CurAction

proc getTeleport*(): cint {.exportc: "GetTeleport", dynlib.} =
    ## Only Used by CsBot Rescue Platform
    return Teleport

proc setSuperObj*(x: cint, y: cint, num: cint): void {.exportc: "SetSuperObj", dynlib.} =
    ## Only Used by CsBot Rescue Platform
    SuperObj_X = x
    SuperObj_Y = y
    SuperObj_Num = num

proc getSuperObj*(x: ptr cint; y: ptr cint; num: ptr cint): void {.exportc: "GetSuperObj", dynlib.} =
    ## Only Used by CsBot Rescue Platform
    x[] = SuperObj_X
    y[] = SuperObj_Y
    num[] = SuperObj_Num

proc updateRobInfo*(sms: cint, x: cint, y: cint): void {.exportc: "UpdateRobInfo", dynlib.} =
    ## Used by CoSpace Rescue Simulation.
    ## Called each time frame by simulator to update the other robot information.
    OtherRob_SMS = sms
    OtherRob_PositionX = x
    OtherRob_PositionY = y

proc updateObjectInfo*(x: cint, y: cint, state: cint, duration: cint): void {.exportc: "UpdateObjectInfo", dynlib.} =
    ## Only Used by CsBot Rescue Platform
    ObjState = state
    ObjPositionX = x
    ObjPositionY = y
    ObjDuration = duration

proc getMySMS*(): cint {.exportc: "GetMySMS", dynlib.} =
    return MySMS

proc setDataAI*(packet: ptr UncheckedArray[cint]; AI_IN: ptr UncheckedArray[cint]): void {.exportc: "SetDataAI", dynlib.} =
    var sum: cint = 0

    US_Front = AI_IN[0]; packet[0] = US_Front; sum += US_Front;
    US_Left = AI_IN[1]; packet[1] = US_Left; sum += US_Left;
    US_Right = AI_IN[2]; packet[2] = US_Right; sum += US_Right;
    CSLeft_R = AI_IN[3]; packet[3] = CSLeft_R; sum += CSLeft_R;
    CSLeft_G = AI_IN[4]; packet[4] = CSLeft_G; sum += CSLeft_G;
    CSLeft_B = AI_IN[5]; packet[5] = CSLeft_B; sum += CSLeft_B;
    CSRight_R = AI_IN[6]; packet[6] = CSRight_R; sum += CSRight_R;
    CSRight_G = AI_IN[7]; packet[7] = CSRight_G; sum += CSRight_G;
    CSRight_B = AI_IN[8]; packet[8] = CSRight_B; sum += CSRight_B;
    PositionX = AI_IN[9]; packet[9] = PositionX; sum += PositionX;
    PositionY = AI_IN[10]; packet[10] = PositionY; sum += PositionY;
    TM_State = AI_IN[11]; packet[11] = TM_State; sum += TM_State;
    Compass = AI_IN[12]; packet[12] = Compass; sum += Compass;
    Time = AI_IN[13]; packet[13] = Time; sum += Time;

    packet[14] = sum;

proc getCommand*(AIOut: ptr UncheckedArray[cint]): void {.exportc: "GetCommand", dynlib.} =
  AIOut[0] = WheelLeft
  AIOut[1] = WheelRight
  AIOut[2] = LED_1
  AIOut[3] = MyState

proc onTimer*(): void {.exportc: "OnTimer", dynlib.} =
    ## Main robot login
    TimerDuration += 1
    case CurGame:
        of 0:
            echo "0"
        else:
            echo "defaulted"