package aima.agents;

import java.io.*;
import java.util.*;
import java.awt.Point;

public class VacuumEnvironment extends GridEnvironment {

  public VacuumEnvironment(AgentThing[] agents, int xSize, int ySize, 
                           float probDirt) {
    super(agents, xSize, ySize);
    this.addWalls();
    this.addWithProbability(Dirt.class, probDirt);
  }

  /** Count 100 for each dirt found, 1 off for each time step, and 1000 off for
   * not returning home. */
  public float performanceMeasure(Agent agentArg) {
    AgentThing agent = (AgentThing) agentArg;
    int result = 0;
    for (int i = 0; i < agent.contents.size(); i++)
      if (agent.contents.elementAt(i) instanceof Dirt) result += 100;
    if (agent.location.equals(start)) result += 1000;
    return result - step;   
      }

  /** Handle the "Suck" and "Shut-Off" actions, or call super  */
  public void execute(Agent agent, Action action) {
    executeVacuumAction((AgentThing)agent, (AnAction)action);
  }

  void executeVacuumAction(AgentThing agent, AnAction action) {
    String name = action.getName();
    if (name.equalsIgnoreCase("Suck")) {
      Thing dirt = findObjectOfType(Dirt.class, agent.location);
      if (dirt != null) { placeInContainer(dirt, agent); }
    } else if (name.equalsIgnoreCase("Shut-Off")) {
      agent.isAlive = false;
    } else {
      executeGridAction(agent, action);
    }
  }

  public Percept presentPercept(Agent agentArg) {
    AgentThing agent = (AgentThing) agentArg;
    Point loc = (Point) agent.location;   
    return new VacuumPercept(agent.isBump,
                             findObjectOfType(Dirt.class,loc) != null,
                             loc.equals(start));
  }

  public static VacuumEnvironment sample() {
    AgentThing a = new AgentThing(new AgentProgram() {
      public Action execute(Percept perceptArg) {
        VacuumPercept percept = (VacuumPercept)perceptArg;
        if (percept.isDirt) return new AnAction("suck");
        if (percept.isBump || AIMA.random() < .2) {
          return new AnAction("turn", AIMA.randomChoice("right", "left"));
        }
        return new AnAction("forward");
      }});
    AgentThing agents[] = { a };
    return new VacuumEnvironment(agents, 10, 10, 0.75f);
  }
    
  public static void main(String[] args) {
    System.out.println("Test: "+sample());
  }
}