package cz.cuni.amis.pogamut.udk.communication.translator.bot.state;
   
   import java.util.HashMap;
   import java.util.List;
   import java.util.Map;
   
   import cz.cuni.amis.fsm.FSMState;
   import cz.cuni.amis.fsm.FSMTransition;
   import cz.cuni.amis.fsm.IFSMState;
  import cz.cuni.amis.pogamut.base.communication.messages.InfoMessage;
  import cz.cuni.amis.pogamut.unreal.communication.messages.UnrealId;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPointListEnd;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPointListStart;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPointNeighbourLink;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPointNeighbourLinkEnd;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPointNeighbourLinkStart;
  import cz.cuni.amis.pogamut.udk.communication.translator.TranslatorContext;
  import cz.cuni.amis.pogamut.udk.communication.translator.TranslatorMessages;
  import cz.cuni.amis.pogamut.udk.communication.translator.UnexpectedMessageException;
  import cz.cuni.amis.pogamut.udk.communication.translator.bot.support.AbstractBotFSMState;
  
  /**
   * Takes care of the navpoint list. It stores them inside a List object and when END message comes it sends
   * them to the world view via <b>NavPointListObtained</b> event, note that before we send the nav points we're doing
   * the preprocessing of those navpoints to interconnect them with links (NavPointNeighbourLink) filling
   * respective fileds of incomingEdges and outgoingEdges.
   * <p><p>
   * The processing of navpoints and it's links is done via TranslatorContext.processNavPointLinks().
   * 
   * @author Jimmy
   */
  @FSMState(map={@FSMTransition(
  					state=HandshakeControllerState.class, 
  					symbol={NavPointListEnd.class}, 
  					transition={}),
  			   @FSMTransition(
  					state = NavPointNeighboursState.class, 
  					symbol = { NavPointNeighbourLinkStart.class }, 
  					transition = { }
  			   )	
  		  }
  )
  public class NavPointListState extends AbstractBotFSMState<InfoMessage, TranslatorContext> {
  	
  	private boolean begun = false;
  	
  	private Map<UnrealId, NavPoint> navPoints = new HashMap<UnrealId, NavPoint>();
  	
  	private Map<UnrealId, List<NavPointNeighbourLink>> neighbours = new HashMap<UnrealId, List<NavPointNeighbourLink>>();
  	
  	private NavPoint currentNavPoint = null;
  
  	public NavPointListState() {
  	}
  	
  	@Override
  	public void stateEntering(TranslatorContext context, IFSMState<InfoMessage, TranslatorContext> fromState, InfoMessage symbol) {
  		if (!begun) {
  			if (!symbol.getClass().equals(NavPointListStart.class)) throw new UnexpectedMessageException(TranslatorMessages.unexpectedMessage(this, symbol, NavPointListStart.class), context.getLogger(), this);
  			begun = true;
  			return;
  		}		
  		if (!symbol.getClass().equals(NavPointNeighbourLinkEnd.class)) throw new UnexpectedMessageException(TranslatorMessages.unexpectedMessage(this, symbol, NavPointNeighbourLinkEnd.class), context.getLogger(), this);
  		navPoints.put(currentNavPoint.getId(), currentNavPoint);
  		neighbours.put(currentNavPoint.getId(), context.getNeighbours());
  	}
  	
  	@Override
  	public void stateLeaving(TranslatorContext context,
  			IFSMState<InfoMessage, TranslatorContext> toState, InfoMessage symbol) {
  		if (symbol.getClass().equals(NavPointNeighbourLinkStart.class)) return;	
  		if (!symbol.getClass().equals(NavPointListEnd.class)) throw new UnexpectedMessageException(TranslatorMessages.unexpectedMessage(this, symbol, NavPointListEnd.class), context.getLogger(), this);
  		
  		// we've received all the navpoints we could!		
  		context.setNavPoints(navPoints);
  		context.setNavPointLinks(neighbours);
  		context.processNavPointLinks();
  		
  		// leaving the state, mark we haven't ever begun
  		navPoints = new HashMap<UnrealId, NavPoint>(navPoints.size() + 20);
  		neighbours = new HashMap<UnrealId, List<NavPointNeighbourLink>>(neighbours.size() + 20);
  		begun = false;
  	}
  
  	@Override
  	public void stateSymbol(TranslatorContext context, InfoMessage symbol) {
  		if (!symbol.getClass().equals(NavPoint.class)) throw new UnexpectedMessageException(TranslatorMessages.unexpectedMessage(this, symbol, NavPoint.class), context.getLogger(), this);
  		currentNavPoint = (NavPoint)symbol;	
  		context.getEventQueue().pushEvent(currentNavPoint);
  	}
  
  	@Override
  	public void init(TranslatorContext context) {
  	}
  
  	@Override
  	public void restart(TranslatorContext context) {
  		currentNavPoint = null;
 		begun = false;
 		navPoints = new HashMap<UnrealId, NavPoint>(navPoints.size() + 20);
 		neighbours = new HashMap<UnrealId, List<NavPointNeighbourLink>>(neighbours.size() + 20);
 	}
 	
 }