import java.awt.*;
import java.util.Date;
import java.util.Iterator;
import java.util.Vector;

public class TreeAlgDraw implements ISimUICallback, ISwarmDraw
{

    long m_nDrawEveryMilli;
    double m_lfStoreEveryMilliReal;
    double m_lfStoreEverySim;
    double m_lfLastSimStored;
    Date m_lastDateDrawn;
    Date m_dateZeroReference;
    double m_lfSecRealPerSecSim;
    double m_lfSecSimPerSecReal;
    
    IEnvironment m_env;
    IEnvDraw m_envDraw;

    IProjection m_xformToScreen;

    SwarmState m_stateToDraw;
    SynchronousStateQueue m_stateQueue;

    int m_nFrameCacheSize;

    CommGraph m_commGraph;

    boolean m_bDrawAllLinks;

    TreeAlgDraw()
    {
	m_xformToScreen = null;

	m_nDrawEveryMilli = 100;
	m_lfSecRealPerSecSim = 1.0;
	m_lfSecSimPerSecReal = 1.0/m_lfSecRealPerSecSim;
	m_dateZeroReference = new Date();
	m_lastDateDrawn = m_dateZeroReference;
	m_stateToDraw = null;
	m_stateQueue = new SynchronousStateQueue();
	m_lfStoreEveryMilliReal = 100.0;
	m_lfStoreEverySim = m_lfSecSimPerSecReal*0.001*
	    m_lfStoreEveryMilliReal;
	m_lfLastSimStored = -m_lfStoreEverySim-1.0;

	m_nFrameCacheSize=60;
    
	m_commGraph = null;

	m_bDrawAllLinks = true;
    }

    public Date simTimeToRealTime(double lfSimTime)
    {
	return new Date(m_dateZeroReference.getTime() +
			(long)(m_lfSecRealPerSecSim*lfSimTime*1000));
    }

    public double realTimeToSimTime(Date dateRealTime)
    {
	return (double)(dateRealTime.getTime()-
			m_dateZeroReference.getTime())*
	    0.001*m_lfSecSimPerSecReal;
    }

    public void setDrawAllLinks(boolean bDrawAllLinks) {
	m_bDrawAllLinks = bDrawAllLinks;
    }

    /**
     * does nothing in this implementation
     */
    public void setStaticEnvironment(IEnvironment env)
    { m_env = env.makeCopy(); }

    /**
     * does nothing in this implementation
     */
    public synchronized void setDynamicEnvironment(IEnvironment env)
    { m_env = env.makeCopy(); }


    public void setEnvDraw(IEnvDraw envDraw) {
    	m_envDraw = envDraw;
    }
    
    Vector<IDrawAgent> m_vecAgents;
    {m_vecAgents = new Vector<IDrawAgent>(); }


    public void addDrawAgent(IDrawAgent agent) {
    	m_vecAgents.add(agent);
    }
    
    /**
     * Pass in a projection class to handle mapping points to
     * screen coords.
     */
    public void setProjection(IProjection proj)
    {
	m_xformToScreen = proj;
    }
    
    public void scaleProjection(int nNewX, int nNewY) {}
    
    public void xlateProjection(int nXOff, int nYOff) {}


    public void reDraw(java.awt.Graphics g)
    {

	Date currTime = new Date();
	
	if(currTime.getTime() - m_lastDateDrawn.getTime() > 
	   m_nDrawEveryMilli)
	    {
		m_lastDateDrawn = currTime;
		m_stateQueue.removeBefore(realTimeToSimTime(currTime));
	    }  

	
	m_stateToDraw = m_stateQueue.getLeastRecent(m_stateToDraw);
	

	if(m_stateToDraw == null)
	    {
		return;
	    }

	double [] arrLfPoints = m_stateToDraw.accessPositions();
	StateBundle [] arrAgentStates = m_stateToDraw.accessStates();

	CommGraph currGraph = m_stateToDraw.getGraph();

	if(m_xformToScreen == null) {
	    g.setColor( globalsUI.getColorMap().getColor(0));
	    g.fillRect(0,0,20000,20000);
	    if(m_envDraw != null) {
	    	m_envDraw.draw(m_env, m_xformToScreen, g);
	    }
	    
	    for(int nDrwAgnt = 0; nDrwAgnt < m_vecAgents.size(); ++nDrwAgnt) {
	    	IDrawAgent drawAgent = m_vecAgents.elementAt(nDrwAgnt);
	    	drawAgent.draw(g, m_xformToScreen,arrLfPoints,arrAgentStates,
	    			currGraph);
	    }
	    
	    g.setColor( globalsUI.getColorMap().getColor(1) );

	    
	    g.setColor(globalsUI.getColorMap().getColor(2));
	    g.drawOval(50,50,10,10);
	    if(arrLfPoints != null) {
		for(int i = 0; i < arrLfPoints.length; i += 2)
		    {
			g.setColor(globalsUI.getColorMap().getColor(3));
			g.drawOval((int)arrLfPoints[i], 
				   (int)arrLfPoints[i+1], 
				   10, 10);
		    }
	    }
	} 
	else {

	    g.setColor( globalsUI.getColorMap().getColor(0));
	    g.fillRect(m_xformToScreen.left(),
		       m_xformToScreen.top(),
		       m_xformToScreen.left() + m_xformToScreen.width(), 
		       m_xformToScreen.top() + m_xformToScreen.height());
	    if(m_envDraw != null) {
	    	m_envDraw.draw(m_env, m_xformToScreen, g);
	    }
	    
	    for(int nDrwAgnt = 0; nDrwAgnt < m_vecAgents.size(); ++nDrwAgnt) {
	    	IDrawAgent drawAgent = m_vecAgents.elementAt(nDrwAgnt);
	    	drawAgent.draw(g, m_xformToScreen,arrLfPoints,arrAgentStates,
	    			currGraph);
	    }
	    
	    g.setColor( globalsUI.getColorMap().getColor(1) );

	    
	    if(arrLfPoints != null) {
		int nRad = 10;
		try {
		    nRad = m_xformToScreen.scaleRadius(0.01);
		} catch(Exception e) {
		    double [] lfTmp = new double [2];
		    lfTmp[0] = 7.07; lfTmp[1] = 7.07;
		    int [] nTmp = m_xformToScreen.scaleVector(lfTmp, 0);
		    nRad = (int)Math.sqrt(nTmp[0]*nTmp[0]+nTmp[1]*nTmp[1]);
		}

		if(nRad < 1) { nRad = 10; }

		IProjection p = m_xformToScreen;
		double [] pts = arrLfPoints;
		int nPts = pts.length/2;
		// so lines don't run over 80 characters
		
		if(currGraph != null) {

		    
		    g.setColor(globalsUI.getColorMap().getColor(2));
		    for(int i = 0; i < nPts; ++i) {
			g.drawOval(p.getScreenComp(0, pts, 2*i)-nRad*2,
				   p.getScreenComp(1, pts, 2*i)-nRad*2,
				   nRad*4, nRad*4);
			if(m_bDrawAllLinks) {
			    Iterator<CommLink> iterTo = currGraph.getEdgesTo(i);
			    while(iterTo.hasNext()) {
				CommLink l = (CommLink)iterTo.next();
				g.drawLine(p.getScreenComp(0,pts, 2*l.to()),
					   p.getScreenComp(1,pts, 2*l.to()),
					   p.getScreenComp(0,pts, 2*l.from()),
					   p.getScreenComp(1,pts, 2*l.from()));
			    }
			}
		    }
		}
		
		g.setColor(globalsUI.getColorMap().getColor(1));
		for(int i = 0; i < arrLfPoints.length; i += 2) {
		    
		    g.drawOval(m_xformToScreen.getScreenComp(0,arrLfPoints,i)
			       -nRad,
			       m_xformToScreen.getScreenComp(1,arrLfPoints,i)
			       -nRad,
			       2*nRad, 2*nRad);
		    

		}

		g.setColor(globalsUI.getColorMap().getColor(3));
		for(int i = 0; i < nPts; ++i) {
		    TreeAgentState treeState;
		    

		    
		    try {
			treeState = 
			    (TreeAgentState)arrAgentStates[i].getVars();
			int nParentIdx = treeState.getParentId();
			if(treeState.getAlgVars().getBoolVar(new Integer(0)) == null ||
			   treeState.getAlgVars().getBoolVar(new Integer(0)).booleanValue() == false) {
			    g.setColor(globalsUI.getColorMap().getColor(3));
			} else {
			    if(treeState.getAlgVars().getBoolVar(new Integer(1)) == null ||
			       treeState.getAlgVars().getBoolVar(new Integer(1)).booleanValue() == false) {
				g.setColor(globalsUI.getColorMap().getColor(1));
			    } else {
				if(treeState.getAlgVars().getBoolVar(new Integer(2)) == null ||
				   treeState.getAlgVars().getBoolVar(new Integer(2)).booleanValue() == false) {
				    g.setColor(globalsUI.getColorMap().getColor(2));
				}
				else {
				    g.setColor(globalsUI.getColorMap().getColor(4));
				}
			    }
			}
			if(nParentIdx >= 0) {
			    g.drawLine(p.getScreenComp(0, pts, 2*i),
				       p.getScreenComp(1, pts, 2*i),
				       p.getScreenComp(0,pts,2*nParentIdx),
				       p.getScreenComp(1,pts,2*nParentIdx));
			    double [] arrLfCircPos = new double[2];
			    arrLfCircPos[0] = pts[2*i] +
				0.75*(pts[2*nParentIdx]-pts[2*i]);
			    arrLfCircPos[1] = pts[2*i+1] +
				0.75*(pts[2*nParentIdx+1]-pts[2*i+1]);
			    g.drawOval(p.getScreenComp(0, arrLfCircPos, 0)
				       -nRad,
				       p.getScreenComp(1, arrLfCircPos, 0)
				       -nRad,
				       2*nRad,2*nRad);
				       
			}
		    } catch(java.lang.ClassCastException e) {
			// do nothing in catch block
			g.setColor(globalsUI.getColorMap().getColor(3));
		    }

		    drawBorder(g);
		    drawLabel(g);
		}

		if(false) { // for debugging only
		    try {
			for(int i = 0; i < nPts; ++i ) {
			    ControlFuncMoveTowards func =
				(ControlFuncMoveTowards)
				arrAgentStates[i].getControlFunc();
			    if(arrAgentStates[i].getVars().getBoolVar(new
								      Integer(1)).
			       booleanValue()
			       ) {
				g.setColor(globalsUI.getColorMap().getColor(4));
			    } else {
				g.setColor(globalsUI.getColorMap().getColor(5));
			    }
			    g.drawLine(p.getScreenComp(0, pts, 2*i),
				       p.getScreenComp(1, pts, 2*i),
				       p.getScreenComp(0, func.getTowards(),0),
				       p.getScreenComp(1, func.getTowards(),0));
			}
		    } catch(java.lang.ClassCastException e) {
		    }
		}

		
	    }
	} 
    }

    String m_strLabel;
    
    public void setLabel(String strLabel) {
    	m_strLabel = new String(strLabel);
    }
    
    void drawLabel(java.awt.Graphics g) {
    	g.setColor(globalsUI.getColorMap().getColor(5));
    	// String str = new String("Paths");
    	// g.setFont
    	if(m_strLabel == null) {
    		m_strLabel = new String("Constraint Tree");
    	}
    	globalsUI.getInstance().doText(g, m_strLabel,
    			m_xformToScreen.left() + 
    			2*globalsUI.getInstance().getLineThickness(), 
    			m_xformToScreen.top()+m_xformToScreen.height()-
    			2*globalsUI.getInstance().getLineThickness(), -1);
    }

    void drawBorder(java.awt.Graphics g) {
    	g.setColor(globalsUI.getColorMap().getColor(7));
    	g.drawLine(m_xformToScreen.left(),
 		       m_xformToScreen.top(),
 		       m_xformToScreen.left() + m_xformToScreen.width()-1, 
 		       m_xformToScreen.top());
    	g.drawLine(m_xformToScreen.left(),
  		       m_xformToScreen.top()+ m_xformToScreen.height()-1,
  		       m_xformToScreen.left() + m_xformToScreen.width()-1, 
  		       m_xformToScreen.top()+ m_xformToScreen.height()-1);
    	g.drawLine(m_xformToScreen.left() + m_xformToScreen.width()-1,
   		       m_xformToScreen.top(),
   		       m_xformToScreen.left() + m_xformToScreen.width()-1, 
   		       m_xformToScreen.top()+ m_xformToScreen.height()-1);
    	g.drawLine(m_xformToScreen.left(),
    		       m_xformToScreen.top(),
    		       m_xformToScreen.left(), 
    		       m_xformToScreen.top()+ m_xformToScreen.height()-1);
    }
    
    public void paint(java.awt.Graphics g) {
	reDraw(g);
    }
    

    /**
     * Callback function
     * @param arrLfState state vector (initially initial state,
     * overwritten with final state)
     * @param agent agent mapping (currently only support for homogenous swarms
     * )
     * @param arrStates discrete state and control function 
     * of each agent (assumed
     * not to change over integration)
     * @param arrSensors array of sensor interfaces.
     * @param env environment
     * @return true if something unusual has happened
     */
    public boolean doCallback(double [] arrLfState,
			      IAgent agent,
			      StateBundle [] arrStates,
			      ISensor [] arrSensors,
			      IEnvironment env,
			      CommGraph graph,
			      double lfSimTime)
    {
	/*     long m_nDrawEveryMilli;
	       double m_lfStoreEveryMilliReal;
	       double m_lfStoreEverySim;
	       Date m_lastDateDrawn;
	       Date m_dateZeroReference;
	       double m_lfSecRealPerSecSim;
	       double m_lfSecSimPerSecReal;
	       
	       double m_lfLastSimStored;
	       IProjection m_xformToScreen;
	       
	       SwarmState m_stateToDraw;
	       SynchronousStateQueue m_stateQueue;
	*/

	if(graph != null) {
	    m_commGraph = new CommGraph(graph);
	}

	if(lfSimTime - m_lfLastSimStored > m_lfStoreEverySim) 
	    {
		m_lfLastSimStored = lfSimTime;
		double lfTimeAheadBy = 
		    m_stateQueue.addState(arrLfState,
					  arrStates, agent, lfSimTime,
					  m_commGraph);
		if(lfTimeAheadBy > 
		   m_nFrameCacheSize*m_nDrawEveryMilli*0.001) 
		    {
			try {
			    Thread.sleep(m_nDrawEveryMilli);
			}
			catch(InterruptedException e)
			    {
			    }

		    }
		
	
	    }
	return false;
    }

    /**
     * In case we need more info then true/false from doCallback
     * @return null
     */
    public Object getLastObject()
    {
	return null;
    }

}