package cz.cuni.amis.pogamut.udk.agent.navigation.stuckdetector;
   
   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.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.udk.bot.impl.UDKBot;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.Self;
  
  /**
   * Simple {@link IStuckDetector} that watches whether the bot moves at all.
   * <p>
   * <p>
   * You may define a period of time (timeout) in which the bot should move on,
   * i.e., if the bot won't move a bit in a specified amount of time, it will
   * report a stuck.
   * 
   * @author Jimmy, knight
   */
  public class UDKTimeStuckDetector implements IStuckDetector {
  
  	/**
  	 * Default distance that is regarded as "bot did not move a bit".
  	 */
  	private static final double NO_MOVEMENT_SIZE = 10;
  
  	/**
  	 * Default timeout after which the detector reports stuck if the bot did not
  	 * move. In miliseconds!
  	 */
  	private static int DEFAULT_TIMEOUT = 3000;
  
  	/**
  	 * Default timeout when the bot is waiting for something... In milliseconds!
  	 */
  	private static int DEFAULT_WAITING_TIMEOUT = 10000;
  
  	/**
  	 * Owner of the detector.
  	 */
  	private UDKBot bot;
  
  	/**
  	 * Timeout used by the detector, when the bot is not waiting, initialized in
  	 * the constructor.
  	 */
  	private double timeout;
  
  	/**
  	 * Timeout used by the detector when the bot is waiting, initialized in the
  	 * constructor.
  	 */
  	private double waitingTimeout;
  
  	private boolean botWaiting = false;
  
  	/**
  	 * In reset set to false. In isStuck set to true - indicator if this
  	 * detector was already queried after reset about bot stucking.
  	 */
  	private boolean bWasIsStuckCalled = false;
  	/** Here we store current time of the simulation. */
  	private long currentTime;
  
  	/**
  	 * Listener watching for the {@link Self} message. Recalls
  	 * {@link UDKTimeStuckDetector#eventSelf(IWorldObjectEvent)}.
  	 * 
  	 * @author Jimmy
  	 */
  	private class SelfListener implements IWorldObjectListener<Self> {
  
  		public SelfListener(IWorldView worldView) {
  			worldView.addObjectListener(Self.class, this);
  		}
  
  		@Override
  		public void notify(IWorldObjectEvent<Self> event) {
  			eventSelf(event);
  		}
  
  	};
  
  	/**
  	 * Listener that triggers
  	 * {@link UDKTimeStuckDetector#eventSelf(IWorldObjectEvent)}.
  	 */
  	private SelfListener selfListener;
  
  	/**
  	 * Last time when the bot has moved (its velocity had been greater than
  	 * {@link UDKTimeStuckDetector#NO_MOVEMENT_SIZE}.
  	 */
  	private Double lastMovementTime = null;
  
 	/**
 	 * Whether we should report that the bot has stuck.
 	 */
 	private boolean stuck = false;
 	
 	private boolean enabled;
 
 	private Logger log;
 
 	public UDKTimeStuckDetector(UDKBot bot) {
 		this(bot, DEFAULT_TIMEOUT, DEFAULT_WAITING_TIMEOUT);
 	}
 
 	public UDKTimeStuckDetector(UDKBot bot, double timeoutMillis,
 			double waitingTimeoutMillis) {
 		if (this.log == null) {
 			this.log = bot.getLogger().getCategory(
 					this.getClass().getSimpleName());
 		}
 		this.bot = bot;
 		this.timeout = timeoutMillis;
 		this.waitingTimeout = waitingTimeoutMillis;
 		selfListener = new SelfListener(bot.getWorldView());
 	}
 
 	public void eventSelf(IWorldObjectEvent<Self> event) {
 		if (!enabled) return;
 		// we always update current time
 		currentTime = event.getObject().getSimTime();
 		// if we were not yet querried about stucking we will simply do nothing!
 		if (!bWasIsStuckCalled) {
 			return;
 		}
 		if (event.getObject().getVelocity().size() > NO_MOVEMENT_SIZE || lastMovementTime == null) {
 			lastMovementTime = (double) event.getObject().getSimTime();
 		}
 		if (botWaiting) {
 			if (event.getObject().getSimTime() - lastMovementTime >= waitingTimeout) {
 				stuck = true;
 				if (log != null && log.isLoggable(Level.INFO)) log.info("Bot is WAITING for more than " + waitingTimeout + " ms, considering that it has stuck.");
 			}
 		} else {
 			if (event.getObject().getSimTime() - lastMovementTime >= timeout) {
 				stuck = true;
 				if (log != null && log.isLoggable(Level.INFO)) log.info("Bot should be moving but it is standing still for more than " + timeout + " ms, considering that it has stuck.");
 			}
 		}
 	}
 	
 	@Override
 	public void setEnabled(boolean state) {
 		if (this.enabled == state) return;
 		this.enabled = state;		
 	}
 
 	@Override
 	public void setBotWaiting(boolean state) {
 		botWaiting = state;
 		lastMovementTime = null;
 	}
 
 	@Override
 	public boolean isStuck() {
 		if (!bWasIsStuckCalled) {
 			// isStuck called for the first time after reset - we return false
 			// and we reset lastMovementTime
 			lastMovementTime = (double) currentTime;
 			bWasIsStuckCalled = true;
 			return false;
 		}
 		return stuck;
 	}
 
 	@Override
 	public void reset() {
 		if (log != null && log.isLoggable(Level.FINER)) log.finer("Reset.");
 		lastMovementTime = Double.NEGATIVE_INFINITY;
 		bWasIsStuckCalled = false;
 		stuck = false;
 	}
 
 	@Override
 	public void setBotTarget(ILocated target) {
 		// WE DO NOT CARE
 	}
 
 }