package nl.tudelft.goal.ut2004.floydwarshall;
   
   import java.util.ArrayList;
   import java.util.List;
   import java.util.logging.Level;
   import java.util.logging.Logger;
   
   import cz.cuni.amis.pogamut.base.agent.IGhostAgent;
   import cz.cuni.amis.pogamut.base.agent.module.SensorModule;
  import cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture;
  import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
  import cz.cuni.amis.pogamut.base.agent.navigation.impl.PrecomputedPathFuture;
  import cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPointNeighbourLink;
  import cz.cuni.amis.pogamut.ut2004.communication.translator.shared.events.MapPointListObtained;
  import cz.cuni.amis.utils.collections.MyCollections;
  
  /**
   * Wrapper for a FloyWarschallMap shared by multiple agents.
   * 
   * @author M.P. Korstanje
   */
  public class SharedFloydWarshallMap extends SensorModule<IGhostAgent> implements IPathPlanner<NavPoint> {
  
  	/**
  	 * Prohibited edges.
  	 */
  	protected int badEdgeFlag = 0;
  
  	/**
  	 * Our map
  	 */
  	protected FloydWarshallMap sharedMap = null;
  
  	private IWorldEventListener<MapPointListObtained> mapListener = new IWorldEventListener<MapPointListObtained>() {
  
  		@Override
  		public void notify(MapPointListObtained event) {
  			if (log.isLoggable(Level.INFO))
  				log.info("Map point list obtained.");
  			sharedMap = FloydWarshallMapCache.getInstance().createMap(event, badEdgeFlag, log);
  		}
  	};
  
  	public SharedFloydWarshallMap(IGhostAgent bot) {
  		this(bot, null);
  	}
  
  	public SharedFloydWarshallMap(IGhostAgent bot, Logger log) {
  		this(bot, FloydWarshallMap.BAD_EDGE_FLAG, log);
  	}
  
  	public SharedFloydWarshallMap(IGhostAgent bot, int badEdgeFlag, Logger log) {
  		super(bot, log);
  		this.badEdgeFlag = badEdgeFlag;
  		worldView.addEventListener(MapPointListObtained.class, mapListener);
  	}
  
  	/**
  	 * Transforms a list of navpoints owned by the (bot owning the) shared map
  	 * to navpoints that we own. This is important with regards to visibility.
  	 * 
  	 * @param shared
  	 * @return
  	 */
  	private List<NavPoint> clean(List<NavPoint> shared) {
  		
  		//Empty path.
  		if(shared == null){
  			return null;
  		}
  		
  		List<NavPoint> clean = new ArrayList<NavPoint>(shared.size());
  
  		for (NavPoint navpoint : shared) {
  			clean.add(clean(navpoint));
  		}
  
  		return clean;
  	}
  
  	/**
  	 * Transforms a navpoint owned by the (bot owning the) shared map to
  	 * navpoints that we own. This is important with regards to visibility.
  	 * 
  	 * @param shared
  	 * @return
  	 */
  	private NavPoint clean(NavPoint shared) {
  		return worldView.get(shared.getId(), NavPoint.class);
  	}
  
  	/**
  	 * Returns path between navpoints 'from' -> 'to'. The path begins with
  	 * 'from' and ends with 'to'. If such path does not exist, it returns
  	 * zero-sized path.
  	 * <p>
  	 * <p>
 	 * Throws exception if object is disabled, see
 	 * {@link FloydWarshallMap#setEnabled(boolean)}. Note that the object
 	 * is enabled by default.
 	 * 
 	 * @param from
 	 * @param to
 	 * @return
 	 */
 	@Override
 	public IPathFuture<NavPoint> computePath(NavPoint from, NavPoint to) {
 		return new PrecomputedPathFuture<NavPoint>(from, to, getPath(from, to));
 	}
 
 	/**
 	 * Whether navpoint 'to' is reachable from the navpoint 'from'.
 	 * <p>
 	 * <p>
 	 * Throws exception if object is disabled, see
 	 * {@link FloydWarshallMap#setEnabled(boolean)}. Note that the object
 	 * is enabled by default.
 	 * 
 	 * @param from
 	 * @param to
 	 * @return
 	 */
 	public boolean reachable(NavPoint from, NavPoint to) {
 		return sharedMap.reachable(from, to);
 	}
 
 	/**
 	 * Calculate's distance between two nav points (using pathfinding).
 	 * <p>
 	 * <p>
 	 * Throws exception if object is disabled, see
 	 * {@link FloydWarshallMap#setEnabled(boolean)}. Note that the object
 	 * is enabled by default.
 	 * 
 	 * @return Distance or POSITIVE_INFINITY if there's no path.
 	 */
 	public float getDistance(NavPoint from, NavPoint to) {
 		return sharedMap.getDistance(from, to);
 	}
 
 	/**
 	 * Returns path between navpoints 'from' -> 'to'. The path begins with
 	 * 'from' and ends with 'to'. If such path doesn't exist, returns null.
 	 * <p>
 	 * <p>
 	 * Throws exception if object is disabled, see
 	 * {@link FloydWarshallMap#setEnabled(boolean)}. Note that the object
 	 * is enabled by default.
 	 * 
 	 * @param from
 	 * @param to
 	 * @return
 	 */
 	public List<NavPoint> getPath(NavPoint from, NavPoint to) {
 		return clean(sharedMap.getPath(from, to));
 	}
 
 	/**
 	 * Checks whether the edge is usable.
 	 * 
 	 * @param from
 	 *            Starting nav point.
 	 * @param edge
 	 *            NeighNav object representing the edge.
 	 * @return boolean
 	 */
 	public boolean checkLink(NavPointNeighbourLink edge) {
 		return sharedMap.checkLink(edge);
 
 	}
 
 	/**
 	 * Hook where to perform clean up of data structures of the module.
 	 */
 	@Override
 	protected void cleanUp() {	
 		super.cleanUp();
 		sharedMap = null;
 	}
 
 	public void refreshPathMatrix() {
 		List<NavPoint> navPoints = MyCollections.asList(agent.getWorldView().getAll(NavPoint.class).values());
 		sharedMap.refreshPathMatrix(navPoints);
 	}
 }