#line 1 "control_parser.rl"

#include "control_parser.h"

#include <stdlib.h>
#include <stdio.h>
#include <sys/socket.h>

typedef control_parser_ctx context;

static void extract(context *ctx, char *fpc) {
	gssize curpos = (fpc - ctx->buffer->str);
	gssize len = curpos - ctx->mark;
	g_string_truncate(ctx->tmp, 0);
	g_string_append_len(ctx->tmp, ctx->buffer->str + ctx->mark, len);
	ctx->mark = -1;
	/* printf("Read chunk '%s'\n", ctx->tmp->str); */
}

static double extract_double(context *ctx, char *fpc) {
	extract(ctx, fpc);
	return strtod(ctx->tmp->str, NULL);
}

static timestamp extract_ts(context *ctx, char *fpc) {
	extract(ctx, fpc);
	return atoi(ctx->tmp->str);
}

#line 125 "control_parser.rl"



#line 35 "control_parser.c"
static const char _control_parser_actions[] = {
	0, 1, 0, 1, 1, 1, 2, 1, 
	3, 1, 4, 1, 5, 1, 6, 1, 
	7, 1, 8, 1, 9, 1, 10, 1, 
	11, 1, 12, 1, 13, 1, 14, 1, 
	15, 1, 16, 1, 17, 1, 18, 1, 
	19, 1, 20, 1, 21, 1, 22, 1, 
	23, 1, 24, 1, 25, 1, 26, 1, 
	27, 1, 28, 1, 29, 2, 1, 5, 
	2, 1, 6, 2, 1, 7, 2, 1, 
	8, 2, 1, 9, 2, 1, 10, 2, 
	1, 11, 2, 1, 12, 2, 1, 13, 
	2, 1, 14, 2, 1, 15, 2, 1, 
	16, 2, 1, 25, 2, 1, 26, 2, 
	3, 2
};

static const short _control_parser_key_offsets[] = {
	0, 0, 1, 2, 7, 12, 17, 22, 
	27, 32, 37, 42, 43, 49, 50, 53, 
	56, 57, 60, 61, 62, 63, 66, 69, 
	70, 73, 76, 79, 80, 83, 86, 91, 
	92, 97, 102, 107, 112, 117, 123, 124, 
	129, 134, 139, 144, 145, 150, 155, 160, 
	165, 166, 171, 176, 181, 186, 187, 192, 
	197, 202, 207, 212, 216, 220, 224, 228, 
	232, 236, 240, 244, 248, 252, 256, 260, 
	264, 268, 272, 276, 280, 283, 287, 291, 
	295, 299, 303, 307, 311, 315
};

static const char _control_parser_trans_keys[] = {
	73, 32, 32, 45, 46, 48, 57, 32, 
	45, 46, 48, 57, 32, 45, 46, 48, 
	57, 32, 45, 46, 48, 57, 32, 45, 
	46, 48, 57, 32, 45, 46, 48, 57, 
	32, 45, 46, 48, 57, 32, 45, 46, 
	48, 57, 59, 66, 67, 69, 75, 83, 
	84, 32, 32, 48, 57, 32, 48, 57, 
	32, 32, 48, 57, 59, 69, 32, 32, 
	48, 57, 32, 48, 57, 59, 32, 48, 
	57, 32, 48, 57, 32, 48, 57, 32, 
	32, 48, 57, 45, 97, 98, 45, 76, 
	82, 108, 114, 32, 32, 45, 46, 48, 
	57, 32, 45, 46, 48, 57, 32, 45, 
	46, 48, 57, 32, 45, 46, 48, 57, 
	59, 98, 99, 104, 109, 66, 67, 69, 
	75, 83, 84, 32, 32, 45, 46, 48, 
	57, 32, 45, 46, 48, 57, 32, 45, 
	46, 48, 57, 59, 98, 99, 104, 109, 
	32, 32, 45, 46, 48, 57, 32, 45, 
	46, 48, 57, 32, 45, 46, 48, 57, 
	59, 98, 99, 104, 109, 32, 32, 45, 
	46, 48, 57, 32, 45, 46, 48, 57, 
	32, 45, 46, 48, 57, 59, 98, 99, 
	104, 109, 32, 32, 45, 46, 48, 57, 
	32, 45, 46, 48, 57, 32, 45, 46, 
	48, 57, 32, 45, 46, 48, 57, 59, 
	98, 99, 104, 109, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 46, 48, 57, 32, 46, 48, 57, 
	32, 48, 57, 32, 46, 48, 57, 32, 
	46, 48, 57, 32, 46, 48, 57, 32, 
	46, 48, 57, 32, 46, 48, 57, 32, 
	46, 48, 57, 32, 46, 48, 57, 32, 
	46, 48, 57, 0
};

static const char _control_parser_single_lengths[] = {
	0, 1, 1, 1, 1, 1, 1, 1, 
	1, 1, 1, 1, 6, 1, 1, 1, 
	1, 1, 1, 1, 1, 1, 1, 1, 
	1, 1, 1, 1, 1, 3, 5, 1, 
	1, 1, 1, 1, 5, 6, 1, 1, 
	1, 1, 5, 1, 1, 1, 1, 5, 
	1, 1, 1, 1, 5, 1, 1, 1, 
	1, 1, 5, 2, 2, 2, 2, 2, 
	2, 2, 2, 2, 2, 2, 2, 2, 
	2, 2, 2, 2, 1, 2, 2, 2, 
	2, 2, 2, 2, 2, 0
};

static const char _control_parser_range_lengths[] = {
	0, 0, 0, 2, 2, 2, 2, 2, 
	2, 2, 2, 0, 0, 0, 1, 1, 
	0, 1, 0, 0, 0, 1, 1, 0, 
	1, 1, 1, 0, 1, 0, 0, 0, 
	2, 2, 2, 2, 0, 0, 0, 2, 
	2, 2, 0, 0, 2, 2, 2, 0, 
	0, 2, 2, 2, 0, 0, 2, 2, 
	2, 2, 0, 1, 1, 1, 1, 1, 
	1, 1, 1, 1, 1, 1, 1, 1, 
	1, 1, 1, 1, 1, 1, 1, 1, 
	1, 1, 1, 1, 1, 0
};

static const short _control_parser_index_offsets[] = {
	0, 0, 2, 4, 8, 12, 16, 20, 
	24, 28, 32, 36, 38, 45, 47, 50, 
	53, 55, 58, 60, 62, 64, 67, 70, 
	72, 75, 78, 81, 83, 86, 90, 96, 
	98, 102, 106, 110, 114, 120, 127, 129, 
	133, 137, 141, 147, 149, 153, 157, 161, 
	167, 169, 173, 177, 181, 187, 189, 193, 
	197, 201, 205, 211, 215, 219, 223, 227, 
	231, 235, 239, 243, 247, 251, 255, 259, 
	263, 267, 271, 275, 279, 282, 286, 290, 
	294, 298, 302, 306, 310, 314
};

static const char _control_parser_trans_targs[] = {
	2, 0, 3, 0, 4, 84, 84, 0, 
	5, 83, 83, 0, 6, 82, 82, 0, 
	7, 81, 81, 0, 8, 80, 80, 0, 
	9, 79, 79, 0, 10, 78, 78, 0, 
	11, 77, 77, 0, 12, 0, 13, 16, 
	20, 16, 16, 27, 0, 14, 0, 11, 
	15, 0, 11, 15, 0, 17, 0, 18, 
	26, 0, 19, 0, 20, 0, 21, 0, 
	22, 25, 0, 23, 24, 0, 85, 0, 
	23, 24, 0, 22, 25, 0, 18, 26, 
	0, 28, 0, 29, 76, 0, 30, 30, 
	30, 0, 31, 31, 31, 31, 31, 0, 
	32, 0, 33, 75, 75, 0, 34, 74, 
	74, 0, 35, 73, 73, 0, 36, 72, 
	72, 0, 37, 38, 43, 48, 53, 0, 
	13, 16, 20, 16, 16, 27, 0, 39, 
	0, 40, 71, 71, 0, 41, 70, 70, 
	0, 42, 69, 69, 0, 37, 38, 43, 
	48, 53, 0, 44, 0, 45, 68, 68, 
	0, 46, 67, 67, 0, 47, 66, 66, 
	0, 37, 38, 43, 48, 53, 0, 49, 
	0, 50, 65, 65, 0, 51, 64, 64, 
	0, 52, 63, 63, 0, 37, 38, 43, 
	48, 53, 0, 54, 0, 55, 62, 62, 
	0, 56, 61, 61, 0, 57, 60, 60, 
	0, 58, 59, 59, 0, 37, 38, 43, 
	48, 53, 0, 58, 59, 59, 0, 57, 
	60, 60, 0, 56, 61, 61, 0, 55, 
	62, 62, 0, 52, 63, 63, 0, 51, 
	64, 64, 0, 50, 65, 65, 0, 47, 
	66, 66, 0, 46, 67, 67, 0, 45, 
	68, 68, 0, 42, 69, 69, 0, 41, 
	70, 70, 0, 40, 71, 71, 0, 36, 
	72, 72, 0, 35, 73, 73, 0, 34, 
	74, 74, 0, 33, 75, 75, 0, 29, 
	76, 0, 11, 77, 77, 0, 10, 78, 
	78, 0, 9, 79, 79, 0, 8, 80, 
	80, 0, 7, 81, 81, 0, 6, 82, 
	82, 0, 5, 83, 83, 0, 4, 84, 
	84, 0, 0, 0
};

static const char _control_parser_trans_actions[] = {
	0, 0, 0, 0, 61, 3, 3, 0, 
	64, 3, 3, 0, 0, 0, 0, 0, 
	67, 3, 3, 0, 70, 3, 3, 0, 
	73, 3, 3, 0, 76, 3, 3, 0, 
	79, 3, 3, 0, 0, 0, 0, 0, 
	0, 0, 0, 5, 0, 0, 0, 97, 
	3, 0, 51, 0, 0, 0, 0, 97, 
	3, 0, 0, 0, 0, 0, 0, 0, 
	97, 3, 0, 100, 3, 0, 1, 0, 
	53, 0, 0, 51, 0, 0, 51, 0, 
	0, 0, 0, 97, 3, 0, 37, 35, 
	39, 0, 45, 41, 49, 43, 47, 0, 
	0, 0, 82, 3, 3, 0, 85, 3, 
	3, 0, 91, 3, 3, 0, 94, 3, 
	3, 0, 9, 9, 9, 9, 9, 0, 
	7, 7, 7, 7, 7, 103, 0, 0, 
	0, 82, 3, 3, 0, 85, 3, 3, 
	0, 88, 3, 3, 0, 55, 55, 55, 
	55, 55, 0, 0, 0, 82, 3, 3, 
	0, 85, 3, 3, 0, 88, 3, 3, 
	0, 57, 57, 57, 57, 57, 0, 0, 
	0, 82, 3, 3, 0, 85, 3, 3, 
	0, 88, 3, 3, 0, 0, 0, 0, 
	0, 0, 0, 0, 0, 82, 3, 3, 
	0, 85, 3, 3, 0, 91, 3, 3, 
	0, 94, 3, 3, 0, 59, 59, 59, 
	59, 59, 0, 33, 0, 0, 0, 31, 
	0, 0, 0, 27, 0, 0, 0, 25, 
	0, 0, 0, 29, 0, 0, 0, 27, 
	0, 0, 0, 25, 0, 0, 0, 29, 
	0, 0, 0, 27, 0, 0, 0, 25, 
	0, 0, 0, 29, 0, 0, 0, 27, 
	0, 0, 0, 25, 0, 0, 0, 33, 
	0, 0, 0, 31, 0, 0, 0, 27, 
	0, 0, 0, 25, 0, 0, 0, 51, 
	0, 0, 23, 0, 0, 0, 21, 0, 
	0, 0, 19, 0, 0, 0, 17, 0, 
	0, 0, 15, 0, 0, 0, 0, 0, 
	0, 0, 13, 0, 0, 0, 11, 0, 
	0, 0, 0, 0
};

static const int control_parser_start = 1;
static const int control_parser_first_final = 85;
static const int control_parser_error = 0;

static const int control_parser_en_main = 1;

#line 128 "control_parser.rl"

static int control_parser_has_error(context *ctx) {
	return ctx->cs == control_parser_error;
}

static int control_parser_is_finished(context *ctx) {
	return ctx->cs >= control_parser_first_final;
}

void control_parser_new(trial *t) {
	context *ctx = t->parse_ctx = g_slice_new(context);
	
#line 257 "control_parser.c"
	{
	( ctx->cs) = control_parser_start;
	}
#line 140 "control_parser.rl"
	ctx->buffer = g_string_sized_new(0);
	ctx->tmp = g_string_sized_new(0);
	ctx->mark = -1;
	ctx->pos = 0;
}

void control_parser_reset(trial *t) {
	context *ctx = t->parse_ctx;
	
#line 271 "control_parser.c"
	{
	( ctx->cs) = control_parser_start;
	}
#line 149 "control_parser.rl"
	g_string_truncate(ctx->tmp, 0);
	ctx->mark = -1;
	ctx->pos = 0;
}

void control_parser_free(trial *t) {
	g_string_free(t->parse_ctx->buffer, TRUE);
	g_string_free(t->parse_ctx->tmp, TRUE);
	g_slice_free(context, t->parse_ctx);
}

run_t control_parse(trial *t) {
	context *ctx = t->parse_ctx;
	gsize wehave;

	if (0 < (wehave = ctx->buffer->len - ctx->pos)) {
		char *p, *pe;

		p = ctx->buffer->str + ctx->pos;
		pe = p + wehave;
		/* fprintf(stderr, "Parsing '%s' (len=%zu)\n", p, wehave); */

		
#line 299 "control_parser.c"
	{
	int _klen;
	unsigned int _trans;
	const char *_acts;
	unsigned int _nacts;
	const char *_keys;

	if ( p == pe )
		goto _test_eof;
	if ( ( ctx->cs) == 0 )
		goto _out;
_resume:
	_keys = _control_parser_trans_keys + _control_parser_key_offsets[( ctx->cs)];
	_trans = _control_parser_index_offsets[( ctx->cs)];

	_klen = _control_parser_single_lengths[( ctx->cs)];
	if ( _klen > 0 ) {
		const char *_lower = _keys;
		const char *_mid;
		const char *_upper = _keys + _klen - 1;
		while (1) {
			if ( _upper < _lower )
				break;

			_mid = _lower + ((_upper-_lower) >> 1);
			if ( (*p) < *_mid )
				_upper = _mid - 1;
			else if ( (*p) > *_mid )
				_lower = _mid + 1;
			else {
				_trans += (_mid - _keys);
				goto _match;
			}
		}
		_keys += _klen;
		_trans += _klen;
	}

	_klen = _control_parser_range_lengths[( ctx->cs)];
	if ( _klen > 0 ) {
		const char *_lower = _keys;
		const char *_mid;
		const char *_upper = _keys + (_klen<<1) - 2;
		while (1) {
			if ( _upper < _lower )
				break;

			_mid = _lower + (((_upper-_lower) >> 1) & ~1);
			if ( (*p) < _mid[0] )
				_upper = _mid - 2;
			else if ( (*p) > _mid[1] )
				_lower = _mid + 2;
			else {
				_trans += ((_mid - _keys)>>1);
				goto _match;
			}
		}
		_trans += _klen;
	}

_match:
	( ctx->cs) = _control_parser_trans_targs[_trans];

	if ( _control_parser_trans_actions[_trans] == 0 )
		goto _again;

	_acts = _control_parser_actions + _control_parser_trans_actions[_trans];
	_nacts = (unsigned int) *_acts++;
	while ( _nacts-- > 0 )
	{
		switch ( *_acts++ )
		{
	case 0:
#line 34 "control_parser.rl"
	{ {p++; goto _out; } t->alive = 0; }
	break;
	case 1:
#line 35 "control_parser.rl"
	{ ctx->mark = p - ctx->buffer->str; }
	break;
	case 2:
#line 36 "control_parser.rl"
	{ ctx->tm = telemetry_new(); }
	break;
	case 3:
#line 37 "control_parser.rl"
	{
		g_queue_push_tail(&t->telemetry, ctx->tm);
		if (!t->alive) {
			t->vehicle.accel = ctx->tm->vehicle.accel;
			t->vehicle.turn = ctx->tm->vehicle.turn;
			gettimeofday(&t->started, NULL);
		} else {
			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
		}
		t->last_ts = ctx->tm->ts;
		ctx->tm = NULL;
		t->alive = 1;
	}
	break;
	case 4:
#line 50 "control_parser.rl"
	{
		ctx->tm->ts = ctx->ts;
		ctx->tm->vehicle.x = ctx->x;
		ctx->tm->vehicle.y = ctx->y;
		ctx->tm->vehicle.dir = ctx->dir;
		ctx->tm->vehicle.speed = ctx->speed;
		t->vehicle.x = ctx->x;
		t->vehicle.y = ctx->y;
		t->vehicle.dir = ctx->dir;
		t->vehicle.speed = ctx->speed;
		/* printf("Vehicle at %f / %f\n", ctx->x, ctx->y); */
	}
	break;
	case 5:
#line 67 "control_parser.rl"
	{ t->map.dx = extract_double(ctx, p); }
	break;
	case 6:
#line 68 "control_parser.rl"
	{ t->map.dy = extract_double(ctx, p); }
	break;
	case 7:
#line 69 "control_parser.rl"
	{ t->map.min_sensor = extract_double(ctx, p); }
	break;
	case 8:
#line 70 "control_parser.rl"
	{ t->map.max_sensor = extract_double(ctx, p); }
	break;
	case 9:
#line 71 "control_parser.rl"
	{ t->map.max_speed = extract_double(ctx, p); }
	break;
	case 10:
#line 72 "control_parser.rl"
	{ t->map.max_turn = extract_double(ctx, p); }
	break;
	case 11:
#line 73 "control_parser.rl"
	{ t->map.max_hard_turn = extract_double(ctx, p); }
	break;
	case 12:
#line 77 "control_parser.rl"
	{ ctx->x = extract_double(ctx, p); }
	break;
	case 13:
#line 78 "control_parser.rl"
	{ ctx->y = extract_double(ctx, p); }
	break;
	case 14:
#line 79 "control_parser.rl"
	{ ctx->r = extract_double(ctx, p); }
	break;
	case 15:
#line 80 "control_parser.rl"
	{ ctx->dir = extract_double(ctx, p); }
	break;
	case 16:
#line 81 "control_parser.rl"
	{ ctx->speed = extract_double(ctx, p); }
	break;
	case 17:
#line 83 "control_parser.rl"
	{ ctx->tm->vehicle.accel = ACCEL; }
	break;
	case 18:
#line 84 "control_parser.rl"
	{ ctx->tm->vehicle.accel = ROLL; }
	break;
	case 19:
#line 85 "control_parser.rl"
	{ ctx->tm->vehicle.accel = BREAK; }
	break;
	case 20:
#line 87 "control_parser.rl"
	{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
	break;
	case 21:
#line 88 "control_parser.rl"
	{ ctx->tm->vehicle.turn = TURN_LEFT; }
	break;
	case 22:
#line 89 "control_parser.rl"
	{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
	break;
	case 23:
#line 90 "control_parser.rl"
	{ ctx->tm->vehicle.turn = TURN_RIGHT; }
	break;
	case 24:
#line 91 "control_parser.rl"
	{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
	break;
	case 25:
#line 93 "control_parser.rl"
	{ ctx->ts = extract_ts(ctx, p); }
	break;
	case 26:
#line 94 "control_parser.rl"
	{ printf("Score %u\n", extract_ts(ctx, p)); }
	break;
	case 27:
#line 96 "control_parser.rl"
	{
		object o = { BOLDER, ctx->x, ctx->y, ctx->r, 0, 0 };
		g_array_append_val(ctx->tm->objects, o);
	}
	break;
	case 28:
#line 100 "control_parser.rl"
	{
		object o = { CRATER, ctx->x, ctx->y, ctx->r, 0, 0 };
		g_array_append_val(ctx->tm->objects, o);
	}
	break;
	case 29:
#line 105 "control_parser.rl"
	{
		object o = { MARTIAN, ctx->x, ctx->y, ctx->r, ctx->dir, ctx->speed };
		g_array_append_val(ctx->tm->objects, o);
	}
	break;
#line 524 "control_parser.c"
		}
	}

_again:
	if ( ( ctx->cs) == 0 )
		goto _out;
	if ( ++p != pe )
		goto _resume;
	_test_eof: {}
	_out: {}
	}
#line 172 "control_parser.rl"

		ctx->pos = p - ctx->buffer->str;
		if (ctx->mark == -1) {
			g_string_erase(ctx->buffer, 0, ctx->pos);
			ctx->pos = 0;
		} else if (ctx->mark) {
			g_string_erase(ctx->buffer, 0, ctx->mark);
			ctx->pos -= ctx->mark;
			ctx->mark = 0;
		}
	} else {
		fprintf(stderr, "No data to parse\n");
	}

	if (control_parser_has_error(ctx)) {
		fprintf(stderr, "Parse error\n");
		shutdown(t->socket, SHUT_RDWR);
		close(t->socket);
		exit(126);
		return RUN_ERROR;
	}
	if (control_parser_is_finished(ctx)) return RUN_DONE;
	return RUN_GO_ON;
}