package cz.cuni.amis.pogamut.ut2004.agent.navigation.astar;
   
   import java.util.List;
   
   import cz.cuni.amis.pathfinding.alg.astar.AStar;
   import cz.cuni.amis.pathfinding.alg.astar.AStarResult;
   import cz.cuni.amis.pathfinding.map.IPFMapView;
   import cz.cuni.amis.pathfinding.map.IPFMapView.DefaultView;
   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.ut2004.agent.module.sensor.NavigationGraphBuilder;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathAutoFixer;
  import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.utils.collections.MyCollections;
  
  public class UT2004AStar extends AStar<NavPoint> implements IPathPlanner<NavPoint>  {
  
  	/**
  	 * AStar configured with {@link UT2004PFMap} with no agent-specific view on the map, {@link DefaultView} is used. 
  	 * @param map
  	 */
  	public UT2004AStar(UT2004Bot bot) {
  		this(new UT2004PFMap(bot.getWorldView()));
  	}
  	
  	/**
  	 * AStar configured with {@link UT2004PFMap} with no agent-specific view on the map, {@link DefaultView} is used. 
  	 * @param map
  	 */
  	public UT2004AStar(UT2004Bot bot, IPFMapView<NavPoint> view) {
  		this(new UT2004PFMap(bot.getWorldView()), view);
  	}
  	
  	/**
  	 * AStar configured with "map" with no agent-specific view on the map, {@link DefaultView} is used. 
  	 * @param map
  	 */
  	public UT2004AStar(UT2004PFMap map) {
  		this(map, new IPFMapView.DefaultView());
  	}
  	
  	/**
  	 * AStar configured with "map" and agent-specific view on the map, if "view" is null, {@link DefaultView} is going to be used. 
  	 * @param map
  	 * @param view may be null
  	 */
  	public UT2004AStar(UT2004PFMap map, IPFMapView<NavPoint> view) {
  		super(map, view);
  	}	
  	
  	@Override
  	public UT2004PFMap getMap() {
  		return (UT2004PFMap) super.getMap();
  	}
  	
  	/**
  	 * Uses {@link UT2004PFGoal} to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using
  	 * standard 3D-Euclidian heuristic and customized 'mapView'.
  	 * @param from
  	 * @param to
  	 * @return
  	 */
  	public synchronized AStarResult<NavPoint> findPath(NavPoint from, NavPoint to, IPFMapView<NavPoint> mapView) {		
  		return findPath(new UT2004PFGoal(from, to), mapView);
  	}
  	
  	/**
  	 * Using {@link #findPath(NavPoint, NavPoint)} to implement {@link IPathPlanner#computePath(Object, Object)} interface.
  	 */
  	@Override
  	public IPathFuture<NavPoint> computePath(NavPoint from, NavPoint to) {
  		if (from == null || to == null) return new PrecomputedPathFuture<NavPoint>(from, to, null);
  		if (from == to) return new PrecomputedPathFuture<NavPoint>(from, to, MyCollections.toList(from));
  		AStarResult<NavPoint> result = findPath(from, to);
  		if (result == null) return new PrecomputedPathFuture<NavPoint>(from, to, null);
  		return new PrecomputedPathFuture<NavPoint>(from, to, result.getPath());		
  	}
  	
  	@Override
  	public double getDistance(NavPoint from, NavPoint to) { 
  		IPathFuture<NavPoint> path = computePath(from, to);
  		if (path.isDone()) {
  			List<NavPoint> list = path.get();
  			if (list.size() == 0) return 0;
  			double result = 0;
  			NavPoint np = list.get(0);
  			for (int i = 1; i < list.size(); ++i) {
  				NavPoint next = list.get(i);
  				result += np.getLocation().getDistance(next.getLocation());
  				np = next;
  			}
  			return result;
  		} else {
  			return Double.POSITIVE_INFINITY;
  		}
  	}
  	
 	/**
 	 * Uses {@link UT2004PFGoal} to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using
 	 * standard 3D-Euclidian heuristic.
 	 * @param from
 	 * @param to
 	 * @return
 	 */
 	public synchronized AStarResult<NavPoint> findPath(NavPoint from, NavPoint to) {		
 		return findPath(new UT2004PFGoal(from, to));
 	}
 	
 	/**
 	 * Call to wipe cached info about the map, e.g., whenever {@link UT2004PathAutoFixer} bans some navpoint or you use {@link NavigationGraphBuilder}, etc.
 	 */
 	public void mapChanged() {
 		getMap().mapChanged();
 	}
 
 }