/*
 * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
 */

package imat.tc;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.nio.charset.StandardCharsets;

/**
 *
 * @author imanol
 */

public class TC {

    // TC process
    private Process process;
    
    // Read / Write streams
    private final OutputStream stdin;
    private final BufferedReader stdout;
    
    public TC () throws IOException{
     
        // Launch TC
        String path = System.getProperty("user.dir");
        process = new ProcessBuilder(path+"/tc-launcher").start();
        
        // Create input and output stream
        stdin = process.getOutputStream();        
        stdout = new BufferedReader(new InputStreamReader(process.getInputStream()));
        
    }
    
    ///// TC
    
    public void TC_Init() throws IOException {
        
        stdin.write("TC_Init\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
 
    public String TC_Generation () throws IOException, InterruptedException{ 
                         
        stdin.write("TC_Generation\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return (stdout.readLine());
      
    }
    
    public String TC_Build_Version() throws IOException{
              
        stdin.write("TC_Build_Version\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return (stdout.readLine());
   
    }
    
     public Boolean TC_Start_Mission() throws IOException{
         
        stdin.write("TC_Start_Mission\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
         
        return Boolean.parseBoolean(stdout.readLine().trim()); 
        
    }  
    
    public int TC_Get_Num_Steps() throws IOException{
         
        stdin.write("TC_Get_Num_Steps\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    }  

    public void TC_End_Mission() throws IOException {
        
        stdin.write("TC_End_Mission\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
    
    ///// Vehicle
    
    public void Vehicle_Set_Current_Pos(int vehicle, int pos) throws IOException {
          
        stdin.write(("Vehicle_Set_Current_Pos "+vehicle+" "+pos+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }

    public int Vehicle_Get_Current_Pos(int vehicle) throws IOException{

        stdin.write(("Vehicle_Get_Current_Pos "+vehicle+" \n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    }  
    
    public int Vehicle_Get_Dis_To_Pos(int vehicle, int pos) throws IOException{
         
        stdin.write(("Vehicle_Get_Dis_To_Pos " +vehicle+ " "+pos+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    }  

    public void Vehicle_Set_Goal_Pos(int vehicle, int pos) throws IOException {
          
        stdin.write(("Vehicle_Set_Goal_Pos "+vehicle+" "+pos+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }

    public int Vehicle_Get_Next_Pos(int vehicle) throws IOException{

         
        stdin.write(("Vehicle_Get_Next_Pos " +vehicle+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
               
    } 
 
    public int Vehicle_Get_Step_Pos(int vehicle, int step) throws IOException{
         
        stdin.write(("Vehicle_Get_Step_Pos "+vehicle+" "+step+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    }  
    
    public Boolean Vehicle_Moved_Forward() throws IOException{
         
        stdin.write(("Vehicle_Moved_Forward "+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Boolean.parseBoolean(stdout.readLine().trim());
        
    }  
    
    public Boolean Vehicle_Goal_Reached() throws IOException{
         
        stdin.write(("Vehicle_Goal_Reached "+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Boolean.parseBoolean(stdout.readLine().trim());
        
    }      
    
    ///// Environment

    public void Environment_Clean() throws IOException {
        
        //mutex.acquire();
        stdin.write("Environment_Clean\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
    
    public void Environment_Build() throws IOException {
        
        //mutex.acquire();
        stdin.write("Environment_Build\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
  
    public int Environment_Get_Max_Pos() throws IOException{
         
        stdin.write("Environment_Get_Max_Pos\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    } 
    
    public int Environment_Get_Max_Roads() throws IOException{
         
        stdin.write("Environment_Get_Max_Roads\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    } 
    
     public void Environment_Add_One_Way_Road(int pos1, int pos2) throws IOException {
        
        stdin.write(("Environment_Add_One_Way_Road " + pos1 + " " + pos2+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
 
    public void Environment_Add_Two_Way_Road_One_Lane(int pos1, int pos2) throws IOException {
        
        stdin.write(("Environment_Add_Two_Way_Road_One_Lane " + pos1 + " " + pos2+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
    
    public void Environment_Add_Two_Way_Road_Two_Lanes(int pos1, int pos2) throws IOException {
        
        stdin.write(("Environment_Add_Two_Way_Road_Two_Lanes " + pos1 + " " + pos2+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
      

    // Obstacles
        
    public void Obstacles_Clean() throws IOException {
        
        stdin.write("Obstacles_Clean\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }
    
    public void Obstacles_Add_Obstacle(int pos1, int pos2) throws IOException {
        
        stdin.write(("Obstacles_Add_Obstacle "+pos1+" "+pos2+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();

    }

    public int Obstacles_Get_Num() throws IOException{
         
        stdin.write("Obstacles_Get_Num\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    } 
    
    public Boolean Obstacles_Present(int pos1, int pos2) throws IOException {
        
        stdin.write(("Obstacles_Present "+pos1+" "+pos2+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Boolean.parseBoolean(stdout.readLine().trim());

    }

    public Boolean Obstacles_Confirm() throws IOException {
        
        stdin.write("Obstacles_Confirm\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();

        return Boolean.parseBoolean(stdout.readLine().trim());
        
    }    
    
    // Settings

    public void Settings_Set_Max_RAM(int memory_mb) throws IOException{
         
        stdin.write(("Settings_Set_Max_RAM "+memory_mb+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
              
    } 
    
    public void Settings_Set_Timeout(int time_ms) throws IOException{
         
        stdin.write(("Settings_Set_Timeout "+time_ms+"\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
              
    } 
    
    public void Settings_Enable_Logging() throws IOException{
         
        stdin.write(("Settings_Enable_Logging\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
              
    } 
    
    public void Settings_Disable_Logging() throws IOException{
         
        stdin.write(("Settings_Disable_Logging\n").getBytes(StandardCharsets.UTF_8));
        stdin.flush();
              
    } 
    
    // Monitoring
    
    public int Monitoring_Get_Num_Vehicles() throws IOException{
         
        stdin.write("Monitoring_Get_Num_Vehicles\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
          
    } 
    
    public Float Monitoring_Get_CPU_Time() throws IOException{
         
        stdin.write("Monitoring_Get_CPU_Time\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Float.valueOf(stdout.readLine().trim());
        
    } 
    
    public int Monitoring_Get_RAM_Usage() throws IOException{
         
        stdin.write("Monitoring_Get_RAM_Usage\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    } 
   
    public int Monitoring_Get_Evaluations() throws IOException{
         
        stdin.write("Monitoring_Get_Evaluations\n".getBytes(StandardCharsets.UTF_8));
        stdin.flush();
        
        return Integer.parseInt(stdout.readLine().trim());
        
    } 

}