% initialize communication
ipcomm_client_open_connection_noping('127.0.0.1', 8003, 1000000, 0)
MAXOBJ=10;
MAXMPT=200;
monpkt=struct('nobj', 0, 't', 0.0, 'x', zeros(MAXOBJ, 1), 'y', zeros(MAXOBJ, 1), 'xdot', zeros(MAXOBJ, 1), 'ydot', zeros(MAXOBJ, 1), 'mpt', 0, 'xm', zeros(MAXMPT, 1), 'ym', zeros(MAXMPT, 1));
msg_id=struct('msg', 0);

load c/result.dat

% initialize object visualization
hfig=visualize_init2();
%hfig=visualize_init();

% prepare sobs
sobs=struct('hfig', 0, 'h', 0, 'x', 0, 'y', 0, 'color', [0 0 0], 'radius', 0);
sobs(1:MAXMPT)=struct('hfig', 0, 'h', 0, 'x', 0, 'y', 0, 'color', [0 0 0], 'radius', 0);
for k=1:MAXMPT,
    sobs(k).hfig=hfig;
    sobs(k).color=[0 0 1];
    sobs(k).radius=0.01;
end

% prepare sobj
sobj=struct('hfig', 0, 'h', 0, 'x', 0, 'y', 0, 'color', [0 0 0], 'radius', 0);
sobj(1:MAXOBJ)=struct('hfig', 0, 'h', 0, 'x', 0, 'y', 0, 'color', [0 0 0], 'radius', 0);
ha=zeros(3, MAXOBJ);
for k=1:MAXOBJ,
    sobj(k).hfig=hfig;
    sobj(k).color=[1 0 0];
    sobj(k).radius=0.1;
end

ifirst=1;

while 1

    ipcomm_client_write_server_message_lock(0, msg_id);
    [monpkt, iret]=ipcomm_client_read(0, monpkt);
    if iret<0
        return;
    end

    % prepare sobs
    for k=1:monpkt.mpt,
        sobs(k).x=monpkt.xm(k);
        sobs(k).y=monpkt.ym(k);
        sobs(k)=visualize_add_object(sobs(k));
    end

    if ifirst
      ifirst=0;
    else
      for k=1:nobj_bak,
        visualize_remove_object(sobj(k));
        remove_arrow(ha(:,k));
       end
    end

    %if imeas>1 && tm(imeas)>tm(imeas-1)
        nobj=monpkt.nobj;
        for k=1:nobj,
            % prepare sobj
            sobj(k).x=monpkt.x(k);
            sobj(k).y=monpkt.y(k);
            sobj(k)=visualize_add_object(sobj(k));

            x1=monpkt.x(k);
            y1=monpkt.y(k);
            x2=x1+monpkt.xdot(k);
            y2=y1+monpkt.ydot(k);
            ha(:,k)=draw_arrow(x1, y1, x2, y2);

            %[xttt, yttt]=circle(sobj(k).x, sobj(k).y, SIGMA);
            %line(xttt, yttt);
        end
    %end

    title(['time = ' num2str(monpkt.t)]);

    shg;
    pause(0.1);

    nobj_bak=nobj;
end

visualize_exit();   % stop visualization

% close connection
ipcomm_client_close_connection(0);