/************************TRICK HEADER*************************
PURPOSE:
    (This is an example of how to replace the default executive
     with one that understands sim segments)
LIBRARY DEPENDENCIES:
    (
    )
*************************************************************/

// Include the experimental Segmented Executive.  Must be included before default_trick_sys.sm
#include "sim_objects/SegmentedExecutive.sm"
#include "sim_objects/default_trick_sys.sm"

##include "Ball++/L1/include/Ball.hh"

/**
  This class is the base ball class
 */
class ballSimObject : public Trick::SimObject {

    public:
        /** The actual ball object */
        Ball obj ;

        /** Constructor to add the jobs */
        ballSimObject() {
            ("default_data") obj.force.default_data() ;
            ("default_data") obj.state.default_data() ;

            ("initialization") obj.state_init() ;

            ("derivative") obj.force_field() ;
            ("derivative") obj.state_deriv() ;
            ("integration") trick_ret = obj.state_integ() ;
            ("post_integration") print_me() ;

            {BLUE} (10.0, "scheduled") trick_ret = obj.state_print() ;
            {BLUE} (1.0, "freeze_scheduled") trick_ret = obj.state_print() ;

            ("shutdown") obj.shutdown() ;
        }

        int print_me() {
            message_publish(MSG_NORMAL, "integration run\n") ;
            return 0 ;
        }

} ;

// Instantiations
ballSimObject ball ;

collect ball.obj.state.work.external_force = {ball.obj.force.output.force[0]};
IntegLoopSimObject my_integ_loop(0.01, &ball, (void *)NULL);

class fswSimObject : public Trick::SimObject {

    public:
        fswSimObject() {
            (0.1 , "scheduled") scheduled_1() ;
            (0.1 , "scheduled") scheduled_2() ;
        }

        int scheduled_1() {
            message_publish(MSG_NORMAL, "running %s\n" , __func__ ) ;
            return 0 ;
        }
        int scheduled_2() {
            message_publish(MSG_NORMAL, "running %s\n" , __func__ ) ;
            return 0 ;
        }
} ;

fswSimObject fsw ;

// Includes a derived Segment class, SegmentA
##include "SegmentedExecutive/include/ExampleSegments.hh"

class segmentSimObject : public Trick::SimObject {

    public:
        Trick::Segment pn ;
        SegmentA pa ;
        SegmentB pb ;

        segmentSimObject( Trick::SegmentedExecutive & sched , Trick::IntegLoopScheduler & integ_sched ) :
         pn("None") ,
         pa("A", "segment_a_enter", "segment_a_exit", integ_sched) ,
         pb("B", "segment_b_enter", "segment_b_exit", integ_sched) {
            /* Segments must be added to the executive during sim_object construction, not jobs */
            sched.add_segment(&pn) ;
            sched.add_segment(&pa) ;
            sched.add_segment(&pb) ;

            ("segment_a_enter") print_A_enter() ;
            ("segment_a_exit") print_A_exit() ;
            ("segment_b_enter") print_B_enter() ;
        }

        int print_A_enter() {
            message_publish(MSG_NORMAL, "calling segment A enter job\n") ;
            return 0 ;
        }
        int print_A_exit() {
            message_publish(MSG_NORMAL, "calling segment A exit job\n") ;
            return 0 ;
        }
        int print_B_enter() {
            message_publish(MSG_NORMAL, "calling segment B enter job\n") ;
            return 0 ;
        }

    private:
        segmentSimObject &operator=(const segmentSimObject &);

} ;

segmentSimObject segments(trick_sys.sched, my_integ_loop.integ_sched) ;

// Connect objects
void create_connections() {

    // Set the default termination time
    exec_set_terminate_time(300.0) ;
    trick_sys.sched.set_freeze_frame(0.10) ;

    // Set a default integrator. This statement in create connections allows this
    // sim to run without an input file.
    my_integ_loop.getIntegrator(Runge_Kutta_2, 4);

    fsw.add_tag("A") ;
    fsw.add_tag_to_job("B", "scheduled_2") ;
}