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// SPDX-FileCopyrightText: The openTCS Authors
// SPDX-License-Identifier: MIT
package org.opentcs.kernel.vehicles;

import static java.util.Objects.requireNonNull;

import jakarta.inject.Inject;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import org.opentcs.components.kernel.services.TCSObjectService;
import org.opentcs.data.model.Location;
import org.opentcs.data.model.Point;
import org.opentcs.data.order.DriveOrder;
import org.opentcs.data.order.Route;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.drivers.vehicle.MovementCommand;

/**
 * Provides methods for mapping {@link DriveOrder}s to a list of {@link MovementCommand}s.
 */
public class MovementCommandMapper {

  private final TCSObjectService objectService;

  /**
   * Creates a new instance.
   *
   * @param objectService The object service to use.
   */
  @Inject
  public MovementCommandMapper(TCSObjectService objectService) {
    this.objectService = requireNonNull(objectService, "objectService");
  }

  /**
   * Maps the given {@link DriveOrder} to a corresponding list of {@link MovementCommand}s.
   *
   * @param driveOrder The {@link DriveOrder} to map.
   * @param transportOrder The {@link TransportOrder} the drive order belongs to.
   * @return A list of {@link MovementCommand}s.
   */
  public List toMovementCommands(
      DriveOrder driveOrder,
      TransportOrder transportOrder
  ) {
    requireNonNull(driveOrder, "driveOrder");
    requireNonNull(transportOrder, "transportOrder");

    // Gather information from the drive order.
    String op = driveOrder.getDestination().getOperation();
    Route orderRoute = driveOrder.getRoute();
    Point finalDestination = orderRoute.getFinalDestinationPoint();
    Location finalDestinationLocation
        = objectService.fetchObject(
            Location.class,
            driveOrder.getDestination().getDestination().getName()
        );
    Map destProperties = driveOrder.getDestination().getProperties();

    List result = new ArrayList<>(orderRoute.getSteps().size());
    // Create a movement command for every step in the drive order's route.
    Iterator stepIter = orderRoute.getSteps().iterator();
    while (stepIter.hasNext()) {
      Route.Step curStep = stepIter.next();
      boolean isFinalMovement = !stepIter.hasNext();

      String operation = isFinalMovement ? op : MovementCommand.NO_OPERATION;
      Location location = isFinalMovement ? finalDestinationLocation : null;

      result.add(
          new MovementCommand(
              transportOrder,
              driveOrder,
              curStep,
              operation,
              location,
              isFinalMovement,
              finalDestinationLocation,
              finalDestination,
              op,
              mergeProperties(transportOrder.getProperties(), destProperties)
          )
      );
    }

    return result;
  }

  /**
   * Merges the properties of a transport order and those of a drive order.
   *
   * @param orderProps The properties of a transport order.
   * @param destProps The properties of a drive order destination.
   * @return The merged properties.
   */
  private Map mergeProperties(
      Map orderProps,
      Map destProps
  ) {
    requireNonNull(orderProps, "orderProps");
    requireNonNull(destProps, "destProps");

    Map result = new HashMap<>();
    result.putAll(orderProps);
    result.putAll(destProps);
    return result;
  }
}