using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO;

using Antlr.Runtime;
using Antlr.Runtime.Tree;

namespace RSD.Scripting
{
    using Robot;

    class Program
    {
        const string CRLF = "\r\n";

        static ScorBotScriptInstructor instructor;

        static void Main(string[] args)
        {
            string filename = "Script.txt";

            var reader = new StreamReader(filename);
            var input = new ANTLRReaderStream(reader);
            var lexer = new ScorBotScriptLexer(input);
            var tokens = new CommonTokenStream(lexer);
            var parser = new ScorBotScriptParser(tokens);

            try
            {
                var result = parser.program();
                var tree = result.Tree as CommonTree;

                instructor = new ScorBotScriptInstructor(new ScorBotSimulator());

                foreach (var child in tree.Children)
                {
                    Parse(child as CommonTree);
                }
            }
            catch (RecognitionException e)
            {
                Console.WriteLine("{0}: {1}",
                    parser.GetErrorHeader(e),
                    parser.GetErrorMessage(e, parser.TokenNames));
            }

            Console.Read();
        }

        static bool isRepeating = true;

        static void Parse(CommonTree tree)
        {
            if (tree.Token == null)
            {
                return;
            }

            switch (tree.Token.Text)
            {
                case "INIT":
                    instructor.Init();
                    break;
                case "HOME":
                    instructor.Home(tree.GetChild(0).Text);
                    break;
                case "REPEAT_START":
                    {
                        isRepeating = true;
                        while (isRepeating)
                        {
                            foreach (var child in tree.Children)
                            {
                                Parse(child as CommonTree);
                            }
                        }
                    }
                    break;
                case "MOVE":
                    instructor.Move(tree.GetChild(0).Text);
                    break;
                case "MOVE_C":
                    instructor.Move(
                        tree.GetChild(0).Text,
                        tree.GetChild(1).Text,
                        tree.GetChild(2).Text,
                        tree.GetChild(3).Text,
                        tree.GetChild(4).Text);
                    break;
                case "ROLL":
                    instructor.Roll(tree.GetChild(0).Text);
                    break;
                case "WAIT_FOR_CONVEYOR":
                    instructor.WaitForConveyor();
                    break;
                case "OPEN_GRIPPER":
                    instructor.OpenGripper();
                    break;
                case "CLOSE_GRIPPER":
                    instructor.CloseGripper();
                    break;
                case "MEASURE_JAW":
                    instructor.MeasureJaw(tree.GetChild(0).Text);
                    break;
                case "MEASURE_WEIGHT":
                    instructor.MeasureWeight();
                    break;
                case "MOVE_SORT":
                    instructor.MoveToSortedLocation();
                    break;
            }
        }

        static void Print(CommonTree tree, string indent)
        {
            Console.WriteLine(indent + tree.ToString());

            if (tree.Children != null)
            {
                indent += "\t";

                foreach (var child in tree.Children)
                {
                    var childTree = child as CommonTree;

                    if (childTree.Text != CRLF)
                    {
                        Print(childTree, indent);
                    }
                }
            }
        }
    }
}