import org.armedbear.lisp.Environment;

import casa.Agent;
import casa.CASAProcess;
import casa.LispAccessible;
import casa.ML;
import casa.Status;
import casa.TransientAgent;
import casa.abcl.CasaLispOperator;
import casa.abcl.ParamsMap;
import casa.agentCom.URLDescriptor;
import casa.exceptions.URLDescriptorException;
import casa.ui.AgentUI;

/**
 * 1. use LISP command line (in casa chat) to do sample moves with the robot
 * 2. create a LISP accessible java method to (a) be called from (1), and then (b) execute more than 1 LISP command
 *	  have extra parameters, e.g. speed, duration, angle
 * 3. ("sleep" bad) drive robot and then create time event (for queuing) to stop robot (call event.start)
 * 4. new casa lisp operator (has optional & keyed parameters)
 * 5. having a request instead of LISP commands
 */
public class DrEvil extends Agent {
	
	public static void main(String[] p) {
		String cmd =
		"(let (\n"+
	  "   (trace-tags \"-info,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations\")\n"+
	  "   (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file\n"+
		"   (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines\n"+
//	  "   (outstream \"/dev/tty.ElementSerial-ElementSe\")\n"+
//	  "   (instream  \"/dev/tty.ElementSerial-ElementSe\")\n"+
	  "   (outstream \"robot.out\")\n"+
	  "   (instream  \"robot.in\")\n"+
	  "   )\n"+
	  "   \n"+
	  ";; Set the options for the agent running the commandline\n"+
	  "(agent.options :options.tracing T)\n"+
	  "(agent.options :options.tracetags trace-tags)\n"+
	  "\n"+
	  ";(agent.new-agent \"casa.LAC\" \"ResearchLAC\" 9000 :process \"CURRENT\" :markup \"KQML\" :trace :traceFile :traceTags \"warning,msg,commitments,policies5\")\n"+
	  ";(sleep 2)\n"+
	  "\n"+
	  "(agent.new-agent \"iRobotCreate.iRobotCreate\" \"MiniMe\"  6903 :LAC 9000 :process \"CURRENT\" :trace trace-code :traceTags trace-tags :markup \"KQML\" :outstream outstream :instream instream)\n"+
	  "(agent.new-agent \"DrEvil\"                    \"Dr.Evil\" 6909 :LAC 9000 :process \"CURRENT\" :trace trace-code :traceTags trace-tags :markup \"KQML\")\n"+
	  "\n"+
	  ") ;let\n";

		CASAProcess.main(new String[] {"-LAC", cmd});
	}

	static {
		createCasaLispOperators( DrEvil.class );
	}
	
	public DrEvil(ParamsMap params, AgentUI ui) throws Exception {
		super(params, ui);
	}

	/**
	 * VERY simple Lisp command to make a robot turn.
	 * @return
	 */
	@LispAccessible(name="DrEvil.poke", 
					help="Makes an iRobot turn around @ fixed speed and angle. All data hard-coded.")
	public Status poke() {
		try {
			abclEval("(agent.tell \"6903\" \"(irobot.drive 20 50)\")",null);
			Thread.sleep( 5000 );
			abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
		} catch (InterruptedException e) {
			e.printStackTrace();
		}
		return new Status( 0 );
	}

	/**
	 * Same Lisp command, but add a parameter for the speed.<br>
	 * NOTICE: Sleep is bad!
	 * @param speed
	 * @return
	 */
	@LispAccessible(name="DrEvil.push", 
			        help="Makes an iRobot turn around @ parameter speed & fixed angle. Agent address hard-coded.",
					arguments={@LispAccessible.Argument(name="speed", help="The speed at which the robot will move [-500,500].")})
	public Status push(Integer speed) {
		try {
			int aSpeed = speed < -500 ? -500 : speed > 500 ? 500 : speed;
			abclEval("(agent.tell \"6903\" \"(irobot.drive "+aSpeed+" 2)\")",null);
			Thread.sleep( 5000 );
			abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
		} catch (InterruptedException e) {
			e.printStackTrace();
		}
		return new Status( 0 );
	}
	
	/**
	 * Same command with parameters for speed and radius.
	 * Fixed the sleep problem by using defer() to queue the stop command into the future.
	 * @param speed
	 * @param radius
	 * @return
	 */
	@LispAccessible(name="DrEvil.again", 
			        help="Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded.",
					arguments={@LispAccessible.Argument(name="speed",  help="The speed at which the robot will move [-500,500]."),
                               @LispAccessible.Argument(name="radius", help="The angle at which the robot will rotate.")})
	public Status again(Integer speed, Integer radius) {
		final int aSpeed = speed < -500 ? -500 : speed > 500 ? 500 : speed;
		final int aAngle = radius;
		defer(new Runnable() {
			@Override
			public void run() {
				abclEval("(agent.tell \"6903\" \"(irobot.drive "+aSpeed+" "+aAngle+")\")",null);
			}
		});
		defer(new Runnable() {
			@Override
			public void run() {
				abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
			}
		}, 5000 );
		return new Status( 0 );
	}
	
	/**
	 * Make the parameters key parameters by using an anonymous class of type CasaLispOperator.
	 * Now we can default the speed and radius. 
	 */
	@SuppressWarnings("unused")
	private static final CasaLispOperator DREVIL__MORE =
	new CasaLispOperator("DREVIL.MORE", "\"!Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded\" "
					   + "&KEY "
					   + "SPEED  \"@java.lang.Integer\" \"!The speed (in mm/sec) at which the robot will move [-500, 500]. (optional -- default: 400)\" "
					   + "RADIUS \"@java.lang.Integer\" \"!The radius (in mm) at which the robot will turn. (optional -- default: 2)\" ", 
					   TransientAgent.class, DrEvil.class)
	{
		@Override
		public Status execute(TransientAgent agent, ParamsMap params, AgentUI ui, Environment env) {
			int speed =  40;
			int angle =   20;
			if (params.containsKey("SPEED") && params.getJavaObject("SPEED") instanceof Integer) {
				speed = (Integer) params.getJavaObject("SPEED");
			}
			if (params.containsKey("RADIUS") && params.getJavaObject("RADIUS") instanceof Integer) {
				angle = (Integer) params.getJavaObject("RADIUS");
			}
			return ((DrEvil)agent).again( speed, angle );
		}
	};

	/**
	 * 1. Make the SPEED and RADIUS default to same checking in Java code
	 * 2. Make the iRobot command into an Lisp program to be executed on the other agent
	 * 3. Send the message directly, rather than resorting to Lisp.
	 */
	@SuppressWarnings("unused")
	private static final CasaLispOperator DREVIL__SPEAK =
	new CasaLispOperator("DREVIL.SPEAK", "\"!Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded\" "
					   + "&KEY "
					   + "(SPEED 30) \"@java.lang.Integer\" \"!The speed at which the robot will move [-500, 500]. (optional -- default: 400)\" "
					   + "(RADIUS 20) \"@java.lang.Integer\" \"!The angle at which the robot will turn. (optional -- default: 2)\" ", 
					   TransientAgent.class, DrEvil.class)
	{
		@Override
		public Status execute(TransientAgent agent, ParamsMap params, AgentUI ui, Environment env) {
			int	speed = (Integer) params.getJavaObject("SPEED");
			int	angle = (Integer) params.getJavaObject("RADIUS");

			Status status;
			try {
				URLDescriptor url     = URLDescriptor.make(":6903");
				String        content = "(agent.async '(progn (irobot.drive "+speed+" "+angle+")(sleep 5)(irobot.drive 0 0)))";
				
				status = agent.sendMessage(ML.REQUEST, ML.EXECUTE, url, ML.CONTENT, content );
			} 
			catch (URLDescriptorException e) {
				status = new Status(-6,"Bad URL: "+e.toString());
			}
    		return status;
		}
	};
}