/* 
 * Perl interface hooks for displayLocalize and posServer CGI
 *
 * Brian Rudy (brudyNO@SPAMpraecogito.com)
 *
 * Compile with:
 *  cc -c poslib.c  `perl -MExtUtils::Embed -e ccopts`
 *  gcc -shared -o libposlib.a poslib.o `perl -MExtUtils::Embed -e ccopts -e ldopts`
 *  Then run make in localize src directory. 
 *
 * 0.21 5/25/2002
 * Added call_get_nearest_camerapos
 *
 * 0.20 8/16/2001
 * Cleaned up includes, added call_newgoal and call_getgoal.
 *
 * 0.10 8/10/2001
 * Basic test version 
 *
 */

#include <EXTERN.h>
#include <perl.h>
#include "poslib.h"


#if defined(__cplusplus) && !defined(PERL_OBJECT)
#define is_cplusplus
#endif

#ifdef is_cplusplus
extern "C" {
#endif

#include <EXTERN.h>
#include <perl.h>
#ifdef PERL_OBJECT
#define NO_XSLOCKS
#include <XSUB.h>
#include "win32iop.h"
#include <fcntl.h>
#include <perlhost.h>
#endif
#ifdef is_cplusplus
}
#  ifndef EXTERN_C
#    define EXTERN_C extern "C"
#  endif
#else
#  ifndef EXTERN_C
#    define EXTERN_C extern
#  endif
#endif

EXTERN_C void xs_init (pTHXo);

/*
EXTERN_C void boot_IPC (pTHXo_ CV* cv);
EXTERN_C void boot_IPC__ShareLite (pTHXo_ CV* cv);
*/

EXTERN_C void boot_DynaLoader (pTHXo_ CV* cv);

EXTERN_C void
xs_init(pTHXo)
{
	char *file = __FILE__;
	dXSUB_SYS;
/*
	newXS("IPC::bootstrap", boot_IPC, file);
	newXS("IPC::ShareLite::bootstrap", boot_IPC__ShareLite, file);
*/
	/* DynaLoader is a special case */
	newXS("DynaLoader::boot_DynaLoader", boot_DynaLoader, file);
}

static PerlInterpreter *my_perl;

/*
 * Have poslib.pl clean things up for us.
 */
void 
call_poslibinit(void)
{
  dSP ;

  PUSHMARK(SP) ;
  perl_call_pv("poslibinit", G_DISCARD|G_NOARGS) ;
}

/*
 * Reset the new goal semaphore.
 */
void
call_flushsemaphores(void) 
{
  dSP ;

  PUSHMARK(SP) ;
  perl_call_pv("flushsemaphores", G_DISCARD|G_NOARGS) ;
}


/*
 * Push the current position into shared memory
 */
void 
call_pushpos(int x, int y, int theta)
{
   dSP;                            /* initialize stack pointer      */
   ENTER;                          /* everything created after here */
   SAVETMPS;                       /* ...is a temporary variable.   */
   PUSHMARK(SP);                   /* remember the stack pointer    */
   XPUSHs(sv_2mortal(newSViv(x))); /* push x onto the stack  */
   XPUSHs(sv_2mortal(newSViv(y))); /* push y onto stack  */
   XPUSHs(sv_2mortal(newSViv(theta))); /* push theta onto stack  */
   PUTBACK;                      /* make local stack pointer global */
   call_pv("pushpos", G_SCALAR);      /* call the function            */
   SPAGAIN;                        /* refresh stack pointer         */
                                    /* pop the return value from stack */
  /*
   printf ("Sucess= %d.\n", POPi);
  */
   PUTBACK;
   FREETMPS;                       /* free that return value        */
   LEAVE;                       /* ...and the XPUSHed "mortal" args.*/
}

/*
 * How many active goals are there?
 */
int call_howmanygoals(void)
{
   int howmany;
   dSP;                            /* initialize stack pointer      */
   ENTER;                          /* everything created after here */
   SAVETMPS;                       /* ...is a temporary variable.   */
   PUSHMARK(SP);                   /* remember the stack pointer    */
   PUTBACK;                      /* make local stack pointer global */
   call_pv("howmanygoals", G_SCALAR|G_NOARGS);   /* call the function    */    
   SPAGAIN;                        /* refresh stack pointer         */   
                                    /* pop the return value from stack */
   /* These come off the stack in reverse order*/
   howmany = POPi;
   PUTBACK;
   FREETMPS;                       /* free that return value        */
   LEAVE;                       /* ...and the XPUSHed "mortal" args.*/
   return(howmany);
} 

/*
 * Get the selected goal (test version only)
 */
goalPosition call_getgoal(int whichone) 
{
   goalPosition retGoals;
   dSP;                            /* initialize stack pointer      */
   ENTER;                          /* everything created after here */
   SAVETMPS;                       /* ...is a temporary variable.   */
   PUSHMARK(SP);                   /* remember the stack pointer    */
   XPUSHs(sv_2mortal(newSViv(whichone))); /* push whichone onto the stack */
   PUTBACK;                      /* make local stack pointer global */
   call_pv("getgoal", G_ARRAY);   /* call the function    */
   SPAGAIN;                        /* refresh stack pointer         */
                                    /* pop the return value from stack */
   /* These come off the stack in reverse order*/
   retGoals.y = POPi;
   retGoals.x = POPi;
   PUTBACK;
   FREETMPS;                       /* free that return value        */
   LEAVE;                       /* ...and the XPUSHed "mortal" args.*/
   return(retGoals);
}


/*
 * Get the nearest goal's camera target position
 */
cameraPosition call_get_nearest_camerapos(void)
{
   cameraPosition retPos;
   dSP;                            /* initialize stack pointer      */
   ENTER;                          /* everything created after here */
   SAVETMPS;                       /* ...is a temporary variable.   */
   PUSHMARK(SP);                   /* remember the stack pointer    */
   PUTBACK;                      /* make local stack pointer global */
   call_pv("get_nearest_camerapos", G_ARRAY);   /* call the function    */
   SPAGAIN;                        /* refresh stack pointer         */
                                    /* pop the return value from stack */
   /* These come off the stack in reverse order*/
   retPos.z = POPi;
   retPos.y = POPi;
   retPos.x = POPi;
   PUTBACK;
   FREETMPS;                       /* free that return value        */
   LEAVE;                       /* ...and the XPUSHed "mortal" args.*/
   return(retPos);
}



/*
 * Check if there is a new goal waiting.
 */
int call_newgoal(void) 
{
   int result;
   dSP;                            /* initialize stack pointer      */
   ENTER;                          /* everything created after here */
   SAVETMPS;                       /* ...is a temporary variable.   */
   PUSHMARK(SP);                   /* remember the stack pointer    */
   PUTBACK;                      /* make local stack pointer global */
   call_pv("newgoal", G_SCALAR|G_NOARGS);  /* call the function     */
   SPAGAIN;                        /* refresh stack pointer         */
                                    /* pop the return value from stack */
   result = POPi;
   PUTBACK;
   FREETMPS;                       /* free that return value        */
   LEAVE;                       /* ...and the XPUSHed "mortal" args.*/
   return(result);
}

/*
 * Speak the infotext for the nearest goal.
 */ 
void
call_speakinfotext(void)
{
  dSP ;
  
  PUSHMARK(SP) ;
  perl_call_pv("speakinfotext", G_DISCARD|G_NOARGS) ;
} 


/*
 * Delete the nearest goal to the current position (after arrival).
 */
void
call_mark_nearest_goal(void)
{
  dSP ;
  
  PUSHMARK(SP) ;
  perl_call_pv("mark_nearest_goal", G_DISCARD|G_NOARGS) ;
}       



/*
 * Init perl interpreter
 */
void 
initperl(void) 
{
   char *my_argv[] = { "", "/home/brudy/posServer/poslib.pl" };
   my_perl = perl_alloc();
   perl_construct( my_perl );
   perl_parse(my_perl, xs_init, 2, my_argv, (char **)NULL);
   perl_run(my_perl);
}


/* 
 * Shut down local perl interpreter
 */
void 
perlclose(void) 
{
   perl_destruct(my_perl);
   perl_free(my_perl);
}