package rescueagents;

import rescueframework.AbstractRobotControl;
import world.*;

import java.util.ArrayList;

/**
 *  RobotControl class to implement custom robot control strategies
 */
public class RobotControl extends AbstractRobotControl{
    private double UnkownCellsSizeStart;
    /**
     * Default constructor saving world robot object and percepcion
     *
     * @param robot         The robot object in the world
     * @param percepcion    Percepcion of all robots
     */
    public RobotControl(Robot robot, RobotPercepcion percepcion) {
        super(robot, percepcion);
        UnkownCellsSizeStart = percepcion.getUnknownCells().size();
    }


    /**
     * Custom step strategy of the robot, implement your robot control here!
     *
     * @return  Return NULL for staying in place, 0 = step up, 1 = step right,
     *          2 = step down, 3 = step left
     */
    public Integer step() {
        if(robot.hasInjured()) {
            return percepcion.getShortestExitPath(robot.getLocation()).getFirstCell().directionFrom(robot.getLocation());
        }
        while (percepcion.getUnknownCells().size() >= 0.25 * UnkownCellsSizeStart && getMinHealtDInjured() >= 25) {
            return percepcion.getShortestUnknownPath(robot.getLocation()).getFirstCell().directionFrom(robot.getLocation());
        }
        if(getMinHealtDInjured() < 25) {
            return getPathToMinHealthDInjured().getFirstCell().directionFrom(robot.getLocation());
        } else {
            Path path = percepcion.getShortestUnknownPath(robot.getLocation());
            if (path != null) {
                return path.getFirstCell().directionFrom(robot.getLocation());
            } else {
                Path path2 = getPathToMinHealthDInjured();
                if (path2 == null) {
                    return percepcion.getShortestExitPath(robot.getLocation()).getFirstCell().directionFrom(robot.getLocation());
                } else {
                    return path2.getFirstCell().directionFrom(robot.getLocation());
                }
            }
        }
    }

    public int getMinHealtDInjured() {
        int minHealth = 10000;
        ArrayList<Injured> mDiscoveredInjureds = percepcion.getDiscoveredInjureds();
        for(int i = 0; i < mDiscoveredInjureds.size(); ++i) {
            if (mDiscoveredInjureds.get(i).getHealth() < minHealth && mDiscoveredInjureds.get(i).getHealth() > 0) {
                if (mDiscoveredInjureds.get(i).getLocation() != null && AStarSearch.search(robot.getLocation(), mDiscoveredInjureds.get(i).getLocation(), -1) != null) {
                    minHealth = mDiscoveredInjureds.get(i).getHealth();
                }
            }
        }
        return minHealth;
    }

    public Path getPathToMinHealthDInjured() {
        int minHealth = 10000;
        ArrayList<Injured> mDiscoveredInjureds = percepcion.getDiscoveredInjureds();
        for(int i = 0; i < mDiscoveredInjureds.size(); ++i) {
            if (mDiscoveredInjureds.get(i).getHealth() < minHealth && mDiscoveredInjureds.get(i).getHealth() > 0) {
                if (mDiscoveredInjureds.get(i).getLocation() != null && AStarSearch.search(robot.getLocation(), mDiscoveredInjureds.get(i).getLocation(), -1) != null) {
                    minHealth = mDiscoveredInjureds.get(i).getHealth();
                }
            }
        }
        for(int i = 0; i < mDiscoveredInjureds.size(); ++i) {
            if (mDiscoveredInjureds.get(i).getHealth() == minHealth && mDiscoveredInjureds.get(i).getLocation() != null) {
                return AStarSearch.search(robot.getLocation(), mDiscoveredInjureds.get(i).getLocation(), -1);
            }
        }
        return null;
    }
}