#include <rtt/os/main.h>

#include <rtt/Logger.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/PeriodicActivity.hpp>

#include <rtt/Ports.hpp>

#include <ocl/OCL.hpp>
#include <ocl/TaskBrowser.hpp>

using namespace std;
using namespace RTT;
using namespace Orocos;


namespace MyNamespace
{
	const int N = 100;

    class MyComponent
        : public TaskContext
    {
    private:
	int m_n;

    protected:
        BufferPort<std::string> bufferport_in;
        BufferPort<std::string> bufferport_out;

    public:
	MyComponent(std::string name, int n)
            : TaskContext(name), m_n(n),
              bufferport_in("the_buffer_port_in", 20, "                  "),
              bufferport_out("the_buffer_port_out", 20, "                  ")
        {
		if ( n != 0 )
			this->ports()->addPort(&bufferport_in, "Buffered Data Port IN");
		if ( n != N-1 )
			this->ports()->addPort(&bufferport_out, "Buffered Data Port OUT");
        }

        bool configureHook() { return true; }

        void updateHook()
        {
		static int si = 0;

		if ( m_n == 0  )
		{
				std::stringstream s;

				si++;
				if ( si > 2 && si < 5  )
				{
					s << "Message:" << si;
				log(Info) << getName() << "***** BEGIN *****" << endlog();
					if ( bufferport_out.Push(s.str()) == true )
					{
						log(Info) << getName() << "Push" << s.str() << endlog();
					}
					else
					{
						cerr << "Push refused !!!" << endl;
					}
				}
		}
		else
		{
			std::string toto;
			if ( bufferport_in.Pop(toto) == true )
			{
				log(Info) << getName() << "Receives " << toto << endlog();
				if ( m_n != N -1 )
				{
					if ( bufferport_out.Push(toto) == true )
					{
						log(Info) << getName() << "Push" << toto << endlog();
					}
					else
					{
						cerr << "Push refused !!!" << endl;
					}
				}
				else
				{
					log(Info) << getName() << "***** END *****" << endlog();
				}
			}
		}
        }
    };
}

using namespace MyNamespace;

int ORO_main(int argc, char** argv)
{
    Logger::In in("main()");

    vector<MyComponent*> vectorMyComponent;

    MyComponent *p_myComponent;

    // Set log level more verbose than default,
    // such that we can see output :
    if ( log().getLogLevel() < Logger::Info ) {
        log().setLogLevel( Logger::Info );
        log(Info) << argv[0] << " manually raises LogLevel to 'Info' (5). See also file 'orocos.log'."<<endlog();
    }

    for (int i = 0; i < N; i++ )
    {
	std::stringstream s;
		std::string Nom;

		/* log(Info) << "**** Creating the component  # " << i+1
				  << "****" <<endlog();
				  */

	s << "Component" << i;
	Nom = s.str();

	p_myComponent = new MyComponent(Nom, i);
	// Create the task:
		/*PeriodicActivity *act = */new PeriodicActivity(1, 0, 1, p_myComponent->engine() );

		// Start the component:
		// p_helloWorld->start();

		vectorMyComponent.push_back(p_myComponent);
		; // ????
    }

    for ( int i = 1; i < N; i++ )
    {
	MyComponent *p1;
	MyComponent *p2;

	// make components i-1 and i peers
	p1 = vectorMyComponent[i-1];
	p2 = vectorMyComponent[i];
	assert(p1!=NULL);
	assert(p2!=NULL);
	p1->addPeer(p2);

	// connect port
	PortInterface *pi1, *pi2;
	pi1 = p1->ports()->getPort("the_buffer_port_out");
	pi2 = p2->ports()->getPort("the_buffer_port_in");
	assert(pi1!=NULL);
	assert(pi2!=NULL);
	if ( pi1->connectTo(pi2) == true )
	{
		log(Info) << "Connection port ok " << i-1 << "-" << i << endl;
	}

	// add peer from 0 to i, to be able to browse from 0 to everywhere
	p1=vectorMyComponent[0];
	p1->addPeer(p2);
    }

    for ( int i =0; i < N; i++)
    {
	vectorMyComponent[i]->start();
    }

    log(Info) << "**** Starting the TaskBrowser       ****" <<endlog();
    // Switch to user-interactive mode.
    TaskBrowser browser( vectorMyComponent[0] );

    // Accept user commands from console.
    browser.loop();

    return 0;
}