/**
 * This callback is specific to TreeAgentState
 * and has no UI dependencies, so it is included here.
 * It should not be used with any agent state other then
 * TreeAgentState
 */
public class MorphDoneCallback implements ISimUICallback
{
	boolean m_bTimeInit;
	double m_lfFirstTime;
	double m_lfLastTime;

	boolean m_bDoneLastTime;

	boolean m_bAllConnected;

	IMorphSpec m_morphSpec;

	double m_lfEpsilon;

	public MorphDoneCallback() {
		m_bAllConnected = false;
		m_bTimeInit = false;
		m_bDoneLastTime = false;
		m_morphSpec = null;
		m_lfEpsilon = 0.1;
	}

	public MorphDoneCallback(IMorphSpec morphSpec) {
		m_bAllConnected = false;
		m_bTimeInit = false;
		m_bDoneLastTime = false;
		m_morphSpec = null;
		setMorphSpec(morphSpec);
		m_lfEpsilon = 0.1;
	}

	void setMorphSpec(IMorphSpec morphSpec) {
		m_morphSpec = morphSpec;
	}

	public boolean doCallback(double [] arrLfState,
			IAgent agent,
			StateBundle [] arrStates,
			ISensor [] arrSensors,
			IEnvironment env ,
			CommGraph graph,
			double lfSimTime) {
		if(m_bTimeInit == false) {
			m_lfFirstTime = lfSimTime;
			m_bTimeInit = true;
		}

		m_lfLastTime = lfSimTime;

		boolean bResult = true;

		m_bAllConnected = true;

		boolean bFinal = true;

		for(int i = 1; i < arrStates.length; ++i) {
			TreeAgentState currState = 
				(TreeAgentState)(arrStates[i].getVars());
			Boolean bDone1 = currState.getBoolVar(new Integer(2));

			if(bDone1 != null) {
				bResult = bResult &&  bDone1.booleanValue();
			} else {
				bResult = false;
			}

			if(!currState.getDfsFinished() ||
					currState.getParentId() < 0) {
				if(m_lfLastTime > 50.0) {
					System.out.println("This is bad");
				}
				m_bAllConnected = false;
				bResult = false;

			}

			if(m_morphSpec != null) {
				double arrLfFinalPos[] = m_morphSpec.getFinalUv(i);
				double lfDistSqrd = arrLfState[2*i] - arrLfFinalPos[0];
				lfDistSqrd *= lfDistSqrd;
				double lfTmp = arrLfState[2*i+1] - arrLfFinalPos[1];
				lfTmp *= lfTmp;
				lfDistSqrd += lfTmp;

				if(lfTmp > m_lfEpsilon*m_lfEpsilon) {
					bFinal = false;
				}
			}
		}

		m_bDoneLastTime = bResult && bFinal;
		return bResult;
	}

	/**
	 * In case we need more info then true/false from doCallback
	 * @return arbitrary object (meaning depends on derived class)
	 */
	public Object getLastObject() {
		if(m_bTimeInit == false || m_bAllConnected == false) {
			double lfTimeDiff = m_lfLastTime - m_lfFirstTime;
			System.out.println("Time init == "+m_bTimeInit+
					", all connected == "+m_bAllConnected+
					", Last result == "+m_bDoneLastTime);
			System.out.println("Time would be "+lfTimeDiff);
			return new Boolean(false);
		}
		return new Double(m_lfLastTime-m_lfFirstTime);
	}
}