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/*
 * Copyright (C) 2011-2015 Rinde van Lon, iMinds-DistriNet, KU Leuven
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
package com.github.rinde.rinsim.examples.warehouse;

import java.util.LinkedList;

import org.apache.commons.math3.random.RandomGenerator;

import com.github.rinde.rinsim.core.TickListener;
import com.github.rinde.rinsim.core.TimeLapse;
import com.github.rinde.rinsim.core.model.road.CollisionGraphRoadModel;
import com.github.rinde.rinsim.core.model.road.MovingRoadUser;
import com.github.rinde.rinsim.core.model.road.RoadModel;
import com.github.rinde.rinsim.geom.Point;
import com.google.common.base.Optional;

class AGVAgent implements TickListener, MovingRoadUser {
  private final RandomGenerator rng;
  private Optional roadModel;
  private Optional destination;
  private LinkedList path;

  AGVAgent(RandomGenerator r) {
    rng = r;
    roadModel = Optional.absent();
    destination = Optional.absent();
    path = new LinkedList<>();
  }

  @Override
  public void initRoadUser(RoadModel model) {
    roadModel = Optional.of((CollisionGraphRoadModel) model);

    Point p;
    while (roadModel.get().isOccupied(p = model.getRandomPosition(rng))) {}
    roadModel.get().addObjectAt(this, p);

  }

  @Override
  public double getSpeed() {
    return 1;
  }

  void nextDestination() {
    destination = Optional.of(roadModel.get().getRandomPosition(rng));
    path = new LinkedList<>(roadModel.get().getShortestPathTo(this,
        destination.get()));
  }

  @Override
  public void tick(TimeLapse timeLapse) {
    if (!destination.isPresent()) {
      nextDestination();
    }

    roadModel.get().followPath(this, path, timeLapse);

    if (roadModel.get().getPosition(this).equals(destination.get())) {
      nextDestination();
    }
  }

  @Override
  public void afterTick(TimeLapse timeLapse) {}

}