package cz.cuni.amis.pogamut.udk.communication.worldview.map;
   
   import java.util.Collection;
   import java.util.Collections;
   import java.util.HashMap;
   import java.util.HashSet;
   import java.util.Map;
   import java.util.Set;
   import java.util.Map.Entry;
  
  import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.udk.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.pogamut.unreal.communication.worldview.map.Box;
  import cz.cuni.amis.pogamut.unreal.communication.worldview.map.IUnrealMap;
  import cz.cuni.amis.pogamut.unreal.communication.worldview.map.MapInfo;
  
  //public class UDKMap implements DirectedGraph<NavPoint, NavPointNeighbourLink>,
  //                                  WeightedGraph<NavPoint, NavPointNeighbourLink> {
  /**
   * Representation of map made from <tt>NavPoint</tt>s and <tt>NavPointNeighbourLink</tt>s.
   * Doesn't react on changes of worldview, data is copied in constructor.
   *
   * @author Honza
   */
  public class UDKMap implements IUnrealMap<MapInfo> {
  
      private String name = "";
      private MapInfo info;
      //private Map<IWorldObjectId, NavPoint> navs;
      // TODO: mit samostatnou tridu jako adapter pro JGraph
      //       tohleto reservovat pro veci jako: jmeno mapy ... :-) ... a spoustu dalsi zajimavych veci
      // Jakub: PROBOHA! String jako klic v mape je na zabiti! :-) ... pouzit cele UnrealId jako klic, pokud ty stringy jsou 
      //        nevyhnutelne pouzivat jako klic Token a stringy prevadet pomoci tridy Tokens
      private Map<String, Waypoint> waypoints = new HashMap<String, Waypoint>();
  
      public UDKMap(IWorldView worldView) {
          Collection<NavPoint> navs = worldView.getAll(NavPoint.class).values();
  
          for (NavPoint nav : navs) {
              waypoints.put(nav.getId().getStringId(), new Waypoint(nav));
          }
          // update ending waypoints of edges
          for (Waypoint point : waypoints.values()) {
              for (Waylink link : point.getOutgoingEdges()) {
                  Waypoint end = waypoints.get(link.getEndId());
                  link.setEnd(end);
              }
          }
  
      }
  
      public void addInfo(MapInfo info) {
          this.info = info;
      }
  
      public MapInfo getInfo() {
          return info;
      }
  
      public void setName(String name) {
          this.name = name;
      }
  
      public String getName() {
          return name;
      }
      /*
      public int inDegreeOf(NavPoint testedNav) {
      if (!navs.containsValue(testedNav)) {
      throw new RuntimeException("Nav is not in map");
      }
      return testedNav.getIncomingEdges().size();
      }
       */
  
      /*    public Set<NavPointNeighbourLink> incomingEdgesOf(NavPoint nav) {
      if (!navs.containsValue(nav)) {
      return null;
      }
  
      return new HashSet<NavPointNeighbourLink>(navs.get(nav).getIncomingEdges().values());
      }
       */
      public Collection<Waypoint> vertexSet() {
          return Collections.unmodifiableCollection(waypoints.values());
      }
  
      public Set<Waylink> edgeSet() {
          Set<Waylink> edges = new HashSet<Waylink>();
  
          for (Waypoint nav : waypoints.values()) {
              edges.addAll(nav.getOutgoingEdges());
          }
  
          // remove duplicates, from one side to other
          
          return edges;
      }
 
     public void printInfo() {
         System.out.println("Printing info about map, vers: " + waypoints.size() + ", links: " + this.edgeSet().size());
         for (Entry<String, Waypoint> entry : this.waypoints.entrySet()) {
             System.out.println(" * " + entry.getKey() + " " + entry.getValue().getLocation());
         }
     }
 
 
 
     /*
     public int outDegreeOf(NavPoint arg0) {
     // TODO Auto-generated method stub
     return 0;
     }
 
     public Set<NavPointNeighbourLink> outgoingEdgesOf(NavPoint arg0) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public NavPointNeighbourLink addEdge(NavPoint arg0, NavPoint arg1) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public boolean addEdge(NavPoint arg0, NavPoint arg1,
     NavPointNeighbourLink arg2) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public boolean addVertex(NavPoint arg0) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public boolean containsEdge(NavPoint arg0, NavPoint arg1) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public boolean containsVertex(NavPoint arg0) {
     // TODO Auto-generated method stub
     return false;
     }
      */
 
     /*
     public Set<NavPointNeighbourLink> edgesOf(NavPoint arg0) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public Set<NavPointNeighbourLink> getAllEdges(NavPoint arg0,
     NavPoint arg1) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public NavPointNeighbourLink getEdge(NavPoint arg0, NavPoint arg1) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public NavPoint getEdgeSource(NavPointNeighbourLink arg0) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public NavPoint getEdgeTarget(NavPointNeighbourLink arg0) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public double getEdgeWeight(NavPointNeighbourLink arg0) {
     // TODO Auto-generated method stub
     return 0;
     }
      */
 
     /*
     public boolean removeAllEdges(
     Collection<? extends NavPointNeighbourLink> arg0) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public Set<NavPointNeighbourLink> removeAllEdges(NavPoint arg0,
     NavPoint arg1) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public boolean removeAllVertices(Collection<? extends NavPoint> arg0) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public boolean removeEdge(NavPointNeighbourLink arg0) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public NavPointNeighbourLink removeEdge(NavPoint arg0, NavPoint arg1) {
     // TODO Auto-generated method stub
     return null;
     }
 
     public boolean removeVertex(NavPoint arg0) {
     // TODO Auto-generated method stub
     return false;
     }
 
     public boolean containsEdge(NavPointNeighbourLink arg0) {
     // TODO Auto-generated method stub
     return false;
     }
      */
 
     /**
      * Get smallest box that contains all waypoints of map.
      * @return 
      */
     public Box getBox() {
         double minX = Double.MAX_VALUE;
         double maxX = Double.MIN_VALUE;
 
         double minY = Double.MAX_VALUE;
         double maxY = Double.MIN_VALUE;
 
         double minZ = Double.MAX_VALUE;
         double maxZ = Double.MIN_VALUE;
 
         Collection<Waypoint> navs = this.vertexSet();
 
         for (Waypoint nav : navs) {
             Location loc = nav.getLocation();
 
             if (loc.x < minX) {
                 minX = loc.x;
             }
             if (loc.x > maxX) {
                 maxX = loc.x;
             }
 
             if (loc.y < minY) {
                 minY = loc.y;
             }
             if (loc.y > maxY) {
                 maxY = loc.y;
             }
 
             if (loc.z < minZ) {
                 minZ = loc.z;
             }
             if (loc.z > maxZ) {
                 maxZ = loc.z;
             }
         }
 
         return new Box(minX, minY, minZ, maxX, maxY, maxZ);
     }
 }