#if 1
#include <iostream>
//using namespace std;
using std::cout;
using std::endl;
#include <string>
#include <random>


#include "node.hpp"
#include "returncode.hpp"

#include "actionexec.hpp"

//#include "log.hpp"
// https://stackoverflow.com/questions/5028302/small-logger-class


ActionExec exec;


ReturnCode succ_fail()
{
 random_device rd; //Will be used to obtain a seed for the random number engine
 std::mt19937 gen(rd()); //Standard mersenne_twister_engine seeded with rd()
 uniform_int_distribution<> dis(0,1);
 int true_false = dis(gen);
 if (true_false==1)
 {
 std::cout << "---> success" << std::endl;
 return ReturnCode::SUCCESS;
 }
 else
 {
 std::cout << "---> failure" << std::endl;
 return ReturnCode::FAILURE;
 }
}

ReturnCode succ_runn()
{
 random_device rd; //Will be used to obtain a seed for the random number engine
 std::mt19937 gen(rd()); //Standard mersenne_twister_engine seeded with rd()
 uniform_int_distribution<> dis(0,1);
 int true_false = dis(gen);
 if (true_false == 1)
 {
 std::cout << "---> success" << std::endl;
 return ReturnCode::SUCCESS;
 }
 else
 {
 std::cout << "---> running" << std::endl;
 return ReturnCode::RUNNING;
 }
}


ReturnCode predOnComingCar()
{

 std::cout << "predOnComingCar:" << std::endl;

 return succ_fail();

}

ReturnCode predCarInFront()
{
 std::cout << "predCarInFront:" << std::endl;
 return succ_fail();

}


ReturnCode actionAvoid()
{
 std::cout << "Avoiding car:" << std::endl;
 return exec.run();
 // return succ_runn();
}


ReturnCode actionTurnOut()
{
 std::cout << "Turning out:" << std::endl;
 return exec.run();
 // return succ_runn();
}

ReturnCode actionPassCar()
{
 std::cout << "Passing car:" << std::endl;
 return exec.run();
 // return succ_runn();
}

ReturnCode actionTurnIn()
{
 std::cout << "Turning in:" << std::endl;
 return exec.run();
 // return succ_runn();
}

ReturnCode actionCruise()
{
 std::cout << "Cruising:" << std::endl;
 return exec.run();
 // return succ_runn();
}


static int test_behavior_tree(void)
{

 Selector *sel = new Selector();

 Sequence *seq_oncoming_car = new Sequence();
 sel->addChild(seq_oncoming_car);

 Conditional *cond_oncoming = new Conditional(predOnComingCar);
 seq_oncoming_car->addChild(cond_oncoming);

 Action *act_avoiding = new Action(actionAvoid);
 seq_oncoming_car->addChild(act_avoiding);

 Sequence *seq_overtake = new Sequence();
 sel->addChild(seq_overtake);

 Conditional *cond_car_infront = new Conditional(predCarInFront);
 seq_overtake->addChild(cond_car_infront);

 Sequence *seq_overtake_exec = new Sequence();
 seq_overtake->addChild(seq_overtake_exec);

 Action *act_turn_out = new Action(actionTurnOut);
 seq_overtake_exec->addChild(act_turn_out);

 Action *act_pass_car = new Action(actionPassCar);
 seq_overtake_exec->addChild(act_pass_car);

 Action *act_turn_in = new Action(actionTurnIn);
 seq_overtake_exec->addChild(act_turn_in);

 Action *act_cruise = new Action(actionCruise);
 sel->addChild(act_cruise);


 ReturnCode result;
 result = sel->tick();
 // while (result != ReturnCode::SUCCESS)
 for (int i = 0; i < 15; ++i)
 {
 std::cout << "count: " << exec.getCounter() << std::endl;
 std::cout << "---------- new iteration ---------" << std::endl;
 result = sel->tick();
 }

 // Conditional cond (pred);
 // cout << (cond.tick() == ReturnCode::SUCCESS) << endl;


 std::cout << "code working so far" << std::endl;
 return 0;
}
#endif