package cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector;
   
   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.navigation.IStuckDetector;
   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.communication.worldview.object.IWorldObjectEvent;
  import cz.cuni.amis.pogamut.base.communication.worldview.object.IWorldObjectListener;
  import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.EndMessage;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
  
  public class UT2004DistanceStuckDetector implements IStuckDetector {
  
  	private UT2004Bot bot;
  	
  	private Location botTarget;
  	
  	private boolean botWaiting = false;
  	
  	private int historyLength;
  	
  	private List<Location> positionHistory;
  	
  	private List<Double> distanceHistory;
  	
  	private Boolean closing;
  	
  	private Boolean distancing;
  	
  	private int closingCount = 0;
  	
  	private int distancingCount = 0;
  	
  	private boolean stuck = false;
  	
  	private boolean enabled = false;
  	
  	private int totalClosingCountMoreThanOne = 0;
  	private int totalDistancingCountMoreThanOne = 0;
  
  	
  	private class SelfListener implements IWorldObjectListener<Self> {
  
  		public SelfListener(IWorldView worldView) {
  			worldView.addObjectListener(Self.class, this);
  		}
  		
  		@Override
  		public void notify(IWorldObjectEvent<Self> event) {
  			eventSelf(event);
  		}
  		
  	};
  	
  	private SelfListener selfListener;
  	
  	private Logger log;
  
  	private double minMovementZ;
  
  	public UT2004DistanceStuckDetector(UT2004Bot bot) {
  		if (this.log == null) {
  			this.log = bot.getLogger().getCategory(this.getClass().getSimpleName());
  		}
  		this.bot = bot;		
  		selfListener = new SelfListener(bot.getWorldView());
  		
  		this.historyLength = 2;
  		
  		if (this.historyLength < 0) throw new IllegalArgumentException("historyLength can't be < 0");
  		
  		this.distanceHistory = new ArrayList<Double>(this.historyLength);
  		this.positionHistory = new ArrayList<Location>(this.historyLength);
  	}
  	
  	@Override
  	public void setEnabled(boolean state) {
  		if (this.enabled == state) return;
  		this.enabled = state;		
  	}
  		
  	@Override
  	public void setBotWaiting(boolean state) {
  		this.botWaiting = state;
  		if (this.botWaiting) {
  			Location botTarget = this.botTarget;
  			reset();
  			this.botTarget = botTarget;
  		}
  	}
  	
 	@Override
 	public void setBotTarget(ILocated target) {
 		if (this.botTarget != null) {
 			if (log != null && log.isLoggable(Level.FINER)) log.finer("TARGET APPROACHING STUCK DETECTOR - previous stats:");
 			if (log != null && log.isLoggable(Level.FINER)) log.finer("  Closing count:              " + closingCount);
 			if (log != null && log.isLoggable(Level.FINER)) log.finer("  Distancing count:           " + distancingCount);
 			
 			if (closingCount > 1) ++totalClosingCountMoreThanOne;
 			if (distancingCount > 1) ++totalDistancingCountMoreThanOne;
 			
 			if (log != null && log.isLoggable(Level.FINER)) log.finer("  Total closing count > 1:    " + totalClosingCountMoreThanOne);
 			if (log != null && log.isLoggable(Level.FINER)) log.finer("  Total distancing count > 1: " + totalDistancingCountMoreThanOne);
 		}
 		
 		boolean botWaiting = this.botWaiting;
 		reset();
 		this.botWaiting = botWaiting;
 		
 		if (target == null || target instanceof Player) {
 			this.botTarget = null;
 		} else {
 			this.botTarget = target.getLocation();
 		}
 		if (this.botTarget == null) {
 			stuck = false;
 		}
 	}
 	
 	public void eventSelf(IWorldObjectEvent<Self> event) {
 		if (!enabled) return;   // not enabled
 		if (botWaiting) return; // we're just waiting...
 		
 		if (botTarget == null) return; // nothing to watch over
 		
 		Location currentLocation = event.getObject().getLocation();
 		double currentDistance = currentLocation.getDistance(botTarget);
 		
 		positionHistory.add(currentLocation);
 		distanceHistory.add(currentDistance);
 		
 		if (positionHistory.size() == 1) return; // not enought info yet
 		
 		Location previousLocation = positionHistory.get(positionHistory.size()-2);
 		double previousDistance = distanceHistory.get(distanceHistory.size()-2);
 		
 		boolean currentClosing = currentDistance < previousDistance;
 		boolean currentDistancing = !currentClosing;
 		
 		if (closing == null) {
 			// positionHistory.size() == 2
 			closing = currentClosing;
 			distancing = currentDistancing;
 			closingCount = closing ? 1 : 0;
 			distancingCount = distancing ? 1 : 0;
 			return;
 		}
 		
 		// WE HAVE ALL SET UP TO CHECK TARGET-APPROACHING-STUCK
 		
 		boolean previousClosing = closing;
 		boolean previousDistancing = distancing;
 		
 		this.closing = currentClosing;
 		this.distancing = currentDistancing;
 		
 		if (currentClosing) {
 			// WE'RE CURRENTLY CLOSING TO TARGET
 			if (previousClosing) {
 				// AND WE'VE BEEN CLOSING PREVIOUSLY AS WELL
 				// => all proceeds ok so far...				
 			} else {
 				++closingCount;
 			}			
 		} else {
 			// WE'RE DISTANCING
 			if (previousDistancing) {
 				// AND WE'VE BEEN DISTANCING PREVIOUSLY AS WELL
 				// ... hmmmmm
 			} else {
 				++distancingCount;
 				if (distancingCount > 1) {
 					if (log != null && log.isLoggable(Level.WARNING)) log.warning("Bot stuck detected, #closing " + closingCount + ", #distancing " + distancingCount); 
 					stuck = true;
 				}
 			}
 		}
 		
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("TARGET APPROACHING STUCK DETECTOR");
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Current distance:    " + currentDistance);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Current closing:     " + currentClosing);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Current distancing:  " + currentDistancing);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Previous closing:    " + previousClosing);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Previous distancing: " + previousDistancing);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Closing count:       " + closingCount);
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("  Distancing count:    " + distancingCount);
 	}
 	
 	@Override
 	public boolean isStuck() {
 		return stuck;
 	}
 
 	@Override
 	public void reset() {
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("Reset.");
 		this.distanceHistory.clear();
 		this.positionHistory.clear();
 		closing = null;
 		distancing = null;
 		closingCount = 0;
 		distancingCount = 0;
 		stuck = false;
 		botTarget = null;
 		botWaiting = false;
 	}
 
 	
 
 }