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   package cz.cuni.amis.pogamut.usar2004.agent;
   
   import com.google.inject.Inject;
   import cz.cuni.amis.pogamut.base.communication.command.IAct;
   import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
  import cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener;
  import cz.cuni.amis.pogamut.base.component.bus.IComponentBus;
  import cz.cuni.amis.pogamut.base.utils.guice.AgentScoped;
  import cz.cuni.amis.pogamut.base.utils.logging.IAgentLogger;
  import cz.cuni.amis.pogamut.base3d.agent.AbstractAgent3D;
  import cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Rotation;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Velocity;
  import cz.cuni.amis.pogamut.usar2004.agent.params.USAR2004AgentParameters;
  import cz.cuni.amis.pogamut.usar2004.communication.messages.usarcommands.GetStartPoses;
  import cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.NfoMessage;
  import cz.cuni.amis.utils.exception.PogamutException;
  
  /**
   *
   * @author vejmanm
   */
  @AgentScoped
  public class USAR2004Bot<WORLD_VIEW extends IVisionWorldView, ACT extends IAct, CONTROLLER extends IUSAR2004BotController> extends AbstractAgent3D<WORLD_VIEW, ACT> implements IUSAR2004Bot {
  
      IUSAR2004BotController controller;
  
      boolean bRobotInitializedCalled = false;
  
      @Override
      public Location getLocation() {
          return null;
      }
  
      @Override
      public Velocity getVelocity() {
          return null;
      }
  
      @Override
      public Rotation getRotation() {
          return null;
      }
  
      @Override
      public void respawn() throws PogamutException {
      }
      // -----------------------
      // -=-=-=-=-=-=-=-=-=-=-=-
      // NFO MESSAGE LISTENER
      // -=-=-=-=-=-=-=-=-=-=-=-
      // -----------------------
      /**
       * Listener that is hooked to WorldView awaiting first event NfoMessage calling
       * robotInitialized method upon receiving the event.
       */
      private IWorldEventListener<NfoMessage> firstNfoMessageListener =
              new IWorldEventListener<NfoMessage>() {
                  @Override
                  public void notify(NfoMessage event) {
                      //setState(new BotStateInited("InitedMessage received, calling botInitialized()."));
                      if (!bRobotInitializedCalled) 
                      {
                          if(isStartPoseMessage(event))
                          {
                              controller.robotInitialized(event);
                              /** dereferencing listener */
                              getWorldView().removeEventListener(NfoMessage.class, this);
                              USAR2004Bot.this.firstNfoMessageListener = null;
                              bRobotInitializedCalled = true;                        
                          }
                          else
                          {
                              getAct().act(new GetStartPoses());
                              //To be able to obtain name of the map or game mode eventually time limit in the logic, we need to 
                              //remove this part or create another method that will trigger before robotInitialized() and call it here.
                          }                            
                      }
                      //setState(new BotStateInited("Bot initialized."));
                  }
                  /**
                   * This method is used to recognise if the NFO message is the first with level info or if it bears data about start poses.
                   */
                  private boolean isStartPoseMessage(NfoMessage message)
                  {
                      if(message.getGameType() == null || message.getGameType().equals(""))
                      {
                          return true;
                      }
                      return false;
                  }
              };
  
      @Inject
     public USAR2004Bot(USAR2004AgentParameters parameters, IComponentBus eventBus, IAgentLogger logger, IWorldView worldView, IAct act, IUSAR2004BotController init) {
         super(parameters.getAgentId(), eventBus, logger, (WORLD_VIEW) worldView, (ACT) act);
 
         controller = init;
 
         init.initializeController(this);
         init.prepareBot(this);
         getWorldView().addEventListener(NfoMessage.class, firstNfoMessageListener);
     }
 }