package nl.tudelft.goal.unreal.floydwarshall;
   
   import java.util.ArrayList;
   import java.util.HashMap;
   import java.util.List;
   import java.util.Map;
   import java.util.logging.Level;
   import java.util.logging.Logger;
   
  import javax.vecmath.Point3d;
  
  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.unreal.communication.messages.UnrealId;
  import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphBuilder;
  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.pogamut.ut2004.utils.LinkFlag;
  import cz.cuni.amis.utils.collections.MyCollections;
  
  /**
   * Private map using Floyd-Warshall for path-finding.
   * <p><p>
   * It should be initialized upon receiving {@link MapPointListObtained} event.
   * It precomputes all the paths inside the environment using Floyd-Warshall
   * algorithm (O(n^3)). Use getReachable(), getDistance(), getPath() to obtain
   * the info about the path.
   * <p><p>
   * If needed you may call {@link FloydWarshallMap#refreshPathMatrix()} to
   * recompute Floyd-Warshall. Especially useful if you're using
   * {@link NavigationGraphBuilder} to modify the underlying navpoints/edges.
   * <p><p>
   * Based upon the implementation from Martin Krulis with his kind consent -
   * Thank you!
   * <p><p>
   * NOTE: requires O(navpoints.size^3) of memory ~ which is 10000^3 at max for
   * UT2004 (usually the biggest maps have 3000 navpoints max, but small maps,
   * e.g., DM-1on1-Albatross has 200 navpoints).
   * <p><p>
   *
   * @author Martin Krulis
   * @author Jimmy
   * @author mpkorstanje
   */
  public class FloydWarshallMap implements IPathPlanner<NavPoint> {
  
      public static class PathMatrixNode {
  
          private float distance = Float.POSITIVE_INFINITY;
          private Integer viaNode = null;
          private List<NavPoint> path = null;
  
          /**
           * Doesn't leading anywhere
           */
          public PathMatrixNode() {
          }
  
          public PathMatrixNode(float distance) {
              this.distance = distance;
          }
  
          public float getDistance() {
              return distance;
          }
  
          public void setDistance(float distance) {
              this.distance = distance;
          }
  
          /**
           * Returns indice.
           *
           * @return
           */
          public Integer getViaNode() {
              return viaNode;
          }
  
          public void setViaNode(Integer indice) {
              this.viaNode = indice;
          }
  
          public List<NavPoint> getPath() {
              return path;
          }
  
          public void setPath(List<NavPoint> path) {
              this.path = path;
          }
      }
      /**
       * Flag mask representing unusable edge.
       */
      public static final int BAD_EDGE_FLAG = LinkFlag.FLY.get()
              | LinkFlag.LADDER.get() | LinkFlag.PROSCRIBED.get()
              | LinkFlag.SWIM.get() | LinkFlag.PLAYERONLY.get();
 
     public static boolean isWalkable(int flag) {
         return ((flag & BAD_EDGE_FLAG) == 0) && ((flag & LinkFlag.SPECIAL.get()) == 0);
     }
     /**
      * Prohibited edges.
      */
     protected int badEdgeFlag = 0;
     /**
      * Hash table converting navPoint IDs to our own indices.
      */
     protected Map<UnrealId, Integer> navPointIndices;
     /**
      * Mapping indices to nav points.
      * <p>
      * <p>
      * WILL BE NULL AFTER CONSTRUCTION! SERVES AS A TEMPORARY "GLOBAL VARIABLE"
      * DURING FLOYD-WARSHALL COMPUTATION AND PATH RECONSTRUCTION.
      */
     protected Map<Integer, NavPoint> indicesNavPoints;
     // Warshall's matrix of distances.
     protected PathMatrixNode[][] pathMatrix;
     /**
      * Synchronizing access to object with respect to
      * {@link FloydWarshallMap#enabled}.
      */
     protected Object mutex = new Object();
     /**
      * Log for logging
      */
     private Logger log;
 
     public FloydWarshallMap(Logger log) {
         this(BAD_EDGE_FLAG, log);
     }
 
     public FloydWarshallMap(int badEdgeFlag, Logger log) {
         this.badEdgeFlag = badEdgeFlag;
         this.log = log;
     }
 
     /**
      * Force FloydWarshall to run again, useful if you modify navpoints using
      * {@link NavigationGraphBuilder}.
      */
     public void refreshPathMatrix(List<NavPoint> navPoints) {
         synchronized (mutex) {
             if (log.isLoggable(Level.FINE)) {
                 log.fine(this + ": Refreshing path matrix...");
             }
             performFloydWarshall(navPoints);
             if (log.isLoggable(Level.WARNING)) {
                 log.warning(this + ": Path matrix refreshed!");
             }
         }
     }
 
     protected void performFloydWarshall(MapPointListObtained map) {
         List<NavPoint> navPoints = MyCollections.asList(map.getNavPoints().values());
         performFloydWarshall(navPoints);
     }
 
     protected void performFloydWarshall(List<NavPoint> navPoints) {
         if (log.isLoggable(Level.FINE)) {
             log.fine(this + ": Beginning Floyd-Warshall algorithm...");
         }
         long start = System.currentTimeMillis();
 
         // prepares data structures
         int size = navPoints.size();
         navPointIndices = new HashMap<UnrealId, Integer>(size);
         indicesNavPoints = new HashMap<Integer, NavPoint>(size);
         pathMatrix = new PathMatrixNode[size][size];
 
         // Initialize navPoint indices mapping.
         for (int i = 0; i < navPoints.size(); ++i) {
             navPointIndices.put(navPoints.get(i).getId(), i);
             indicesNavPoints.put(i, navPoints.get(i));
         }
 
         // Initialize distance matrix.
         for (int i = 0; i < size; i++) {
             for (int j = 0; j < size; j++) {
                 pathMatrix[i][j] = new PathMatrixNode((i == j) ? 0.0f
                         : Float.POSITIVE_INFINITY);
             }
         }
 
         // Set edge lengths into distance matrix.
         for (int i = 0; i < size; i++) {
             Point3d location = navPoints.get(i).getLocation().getPoint3d();
             for (NavPointNeighbourLink link : navPoints.get(i)
                     .getOutgoingEdges().values()) {
                 if (checkLink(link)) {
                     pathMatrix[i][navPointIndices.get(link.getToNavPoint()
                             .getId())].setDistance((float) location
                             .distance(link.getToNavPoint().getLocation()
                             .getPoint3d()));
                 }
             }
         }
 
         // Perform Floyd-Warshall.
         for (int k = 0; k < size; k++) {
             for (int i = 0; i < size; i++) {
                 for (int j = 0; j < size; j++) {
                     float newLen = pathMatrix[i][k].getDistance()
                             + pathMatrix[k][j].getDistance();
                     if (pathMatrix[i][j].getDistance() > newLen) {
                         pathMatrix[i][j].setDistance(newLen);
                         pathMatrix[i][j].setViaNode(k);
                     }
                 }
             }
         }
 
         // Construct paths + log unreachable paths.
         int count = 0;
         for (int i = 0; i < size; i++) {
             for (int j = 0; j < size; j++) {
                 if (pathMatrix[i][j].getDistance() == Float.POSITIVE_INFINITY) {
                     if (log.isLoggable(Level.FINER)) {
                         log.finer("Unreachable path from " + navPoints.get(i).getId().getStringId()
                                 + " -> " + navPoints.get(j).getId().getStringId());
                     }
                     count++;
                 } else {
                     // path exists ... retrieve it
                     pathMatrix[i][j].setPath(retrievePath(i, j));
                 }
             }
         }
 
         if (count > 0) {
             if (log.isLoggable(Level.WARNING)) {
                 log.warning(this + ": There are " + count + " unreachable nav point pairs (if you wish to see more, set logging to Level.FINER).");
             }
         }
 
         if (log.isLoggable(Level.INFO)) {
             log.info(this + ": computation for " + size + " navpoints took " + (System.currentTimeMillis() - start) + " millis");
         }
 
         // null unneeded field to free some memory
         indicesNavPoints = null;
     }
 
     /**
      * 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) {
         // Bad flags (prohibited edges, swimming, flying...).        
         if ((edge.getFlags() & badEdgeFlag) != 0) {
             return false;
         }
         
         // Bot can't move over translocator paths.
         if (edge.isOnlyTranslocator()) {
             return false;
         }
 
         // Lift flags.
         if ((edge.getFlags() & LinkFlag.SPECIAL.get()) != 0) {
             return true;
         }
 
         // Check whether the climbing angle is not so steep.
 //		if ((edge.getFromNavPoint().getLocation().getPoint3d().distance(
 //				edge.getToNavPoint().getLocation().getPoint3d()) < (edge
 //				.getToNavPoint().getLocation().z - edge.getFromNavPoint()
 //				.getLocation().z))
 //				&& (edge.getFromNavPoint().getLocation().getPoint3d().distance(
 //						edge.getToNavPoint().getLocation().getPoint3d()) > 100)) {
 //			return false;
 //		}
 
         // Check whether the jump is not so high.
 //		if (((edge.getFlags() & LinkFlag.JUMP.get()) != 0)
 //				&& (edge.getToNavPoint().getLocation().z
 //						- edge.getFromNavPoint().getLocation().z > 80)) {
 //			return false;
 //		}
         //Check whether there is NeededJump attribute set - this means the bot has to 
         //provide the jump himself - if the Z of the jump is too high it means he
         //needs to rocket jump or ShieldGun jump - we will erase those links
         //as our bots are not capable of this
         if (edge.getNeededJump() != null && edge.getNeededJump().z > 680) {
             return false;
         }
 
         //This is a navpoint that requires lift jump - our bots can't do this - banning the link!
         if (edge.getToNavPoint().isLiftJumpExit()) {
             return false;
         }
 
         return true;
     }
 
     /**
      * Sub-routine of retrievePath - do not use! ... Well you may, it returns
      * path without 'from', 'to' or null if such path dosn't exist.
      * <p>
      * <p>
      * DO NOT USE OUTSIDE CONSTRUCTOR (relies on indicesNavPoints).
      *
      * @param from
      * @param to
      * @return
      */
     private List<NavPoint> retrievePathInner(Integer from, Integer to) {
         PathMatrixNode node = pathMatrix[from][to];
         if (node.getDistance() == Float.POSITIVE_INFINITY) {
             return null;
         }
         if (node.getViaNode() == null) {
             return new ArrayList<NavPoint>(0);
         }
         if (node.getViaNode() == null) {
             return new ArrayList<NavPoint>(0);
         }
 
         List<NavPoint> path = new ArrayList<NavPoint>();
         path.addAll(retrievePathInner(from, node.getViaNode()));
         path.add(indicesNavPoints.get(node.getViaNode()));
         path.addAll(retrievePathInner(node.getViaNode(), to));
 
         return path;
     }
 
     /**
      * Returns path between from-to or null if path doesn't exist. Path begins
      * with 'from' and ends with 'to'.
      * <p>
      * <p>
      * DO NOT USE OUTSIDE CONSTRUCTOR (relies on indicesNavPoints).
      *
      * @param from
      * @param to
      * @return
      */
     private List<NavPoint> retrievePath(Integer from, Integer to) {
         List<NavPoint> path = new ArrayList<NavPoint>();
         path.add(indicesNavPoints.get(from));
         path.addAll(retrievePathInner(from, to));
         path.add(indicesNavPoints.get(to));
         return path;
     }
 
     protected PathMatrixNode getPathMatrixNode(NavPoint np1, NavPoint np2) {
         return pathMatrix[navPointIndices.get(np1.getId())][navPointIndices
                 .get(np2.getId())];
     }
 
     /**
      * 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) {
         if ((from == null) || (to == null)) {
             return false;
         }
         return getPathMatrixNode(from, to).getDistance() != Float.POSITIVE_INFINITY;
     }
 
     /**
      * 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) {
         if ((from == null) || (to == null)) {
             return Float.POSITIVE_INFINITY;
         }
         return getPathMatrixNode(from, to).getDistance();
     }
 
     /**
      * 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) {
         synchronized (mutex) {
             if ((from == null) || (to == null)) {
                 return null;
             }
             if (log.isLoggable(Level.FINE)) {
                 log.fine("Retrieving path: " + from.getId().getStringId() + "[" + from.getLocation() + "] -> " + to.getId().getStringId() + "[" + to.getLocation() + "]");
             }
             List<NavPoint> path = getPathMatrixNode(from, to).getPath();
             if (path == null) {
                 if (log.isLoggable(Level.WARNING)) {
                     log.warning("PATH NOT EXIST: " + from.getId().getStringId() + "[" + from.getLocation() + "] -> " + to.getId().getStringId() + "[" + to.getLocation() + "]");
                 }
             } else {
                 if (log.isLoggable(Level.FINE)) {
                     log.fine("Path exists - " + path.size() + " navpoints.");
                 }
             }
             return path;
         }
     }
 
     protected void cleanUp() {
         pathMatrix = null;
         navPointIndices = null;
     }
 
     @Override
     public String toString() {
         return "FloydWarshallMap";
     }
 
     /**
      * 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));
     }
 }