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package tddc17;
 
 
import aima.core.environment.liuvacuum.*;
import aima.core.agent.Action;
import aima.core.agent.AgentProgram;
import aima.core.agent.Percept;
import aima.core.agent.impl.*;
 
 
class MyAgentState
{
    public int[][] world = new int[20][20];
    public int initialized = 0;
    final int UNKNOWN   = 0;
    final int WALL      = 1;
    final int CLEAR     = 2;
    final int DIRT      = 3;
    final int HOME      = 4;
    final int ACTION_NONE       = 0;
    final int ACTION_MOVE_FORWARD   = 1;
    final int ACTION_TURN_RIGHT     = 2;
    final int ACTION_TURN_LEFT      = 3;
    final int ACTION_SUCK           = 4;
    
    public int agent_x_position = 1;
    public int agent_y_position = 1;
    public int agent_last_action = ACTION_NONE;
    
    MyAgentState()
    {
        for (int i=0; i < this.world.length; i++)
            for (int j=0; j < this.world[i].length ; j++)
                this.world[i][j] = this.UNKNOWN;
        this.world[1][1] = this.HOME;
        this.agent_last_action = this.ACTION_NONE;
    }
    
    public void updateWorld(int x_position, int y_position, int info)
    {
        this.world[x_position][y_position] = info;
    }
    
    public void printWorldDebug()
    {
        for (int i=0; i < this.world.length; i++)
        {
            for (int j=0; j < this.world[i].length ; j++)
            {
                if (this.world[j][i]==this.UNKNOWN)
                    System.out.print(" ? ");
                if (this.world[j][i]==this.WALL)
                    System.out.print(" # ");
                if (this.world[j][i]==this.CLEAR)
                    System.out.print(" . ");
                if (this.world[j][i]==this.DIRT)
                    System.out.print(" D ");
            }
            System.out.println("");
        }
    }
}
 
class MyAgentProgram implements AgentProgram {
 
    // Here you can define your variables!
    public int iterationCounter = -1000;
    public MyAgentState state = new MyAgentState();
 
    boolean direction = true;
    
    final boolean RIGHT = true;
    final boolean LEFT = false;
    
    @Override
    public Action execute(Percept percept) {
        
        // This example agent program will update the internal agent state while only moving forward.
        // Note! It works under the assumption that the agent starts facing to the right.
 
        this.iterationCounter--;
        
        DynamicPercept p = (DynamicPercept) percept;
        Boolean bump = (Boolean)p.getAttribute("bump");
        Boolean dirt = (Boolean)p.getAttribute("dirt");
        Boolean home = (Boolean)p.getAttribute("home");
        System.out.println("percept: " + p);
        
        // State update based on the percept value and the last action
        if (dirt)
            this.state.updateWorld(this.state.agent_x_position,this.state.agent_y_position,this.state.DIRT);
        else if (bump)
            this.state.updateWorld(this.state.agent_x_position, this.state.agent_y_position, this.state.WALL);
        else
            this.state.updateWorld(this.state.agent_x_position,this.state.agent_y_position,this.state.CLEAR);
        this.state.printWorldDebug();
        
        
        // Next action selection based on the percept value
        if (dirt.booleanValue())
        {
            System.out.println("DIRT -> choosing SUCK action!");
            this.state.updateWorld(this.state.agent_x_position, this.state.agent_y_position, this.state.CLEAR);
            this.state.agent_last_action=this.state.ACTION_SUCK;
            return LIUVacuumEnvironment.ACTION_SUCK;
        }
        if (!bump.booleanValue())
        {
            this.state.agent_last_action = this.state.ACTION_MOVE_FORWARD;
            return LIUVacuumEnvironment.ACTION_MOVE_FORWARD;
        }
        else
        {
            if (this.state.world[this.state.agent_x_position+1][this.state.agent_y_position] == this.state.UNKNOWN)
            {
                this.state.agent_last_action = this.DIRECTION_RIGHT;
                return LIUVacuumEnvironment.ACTION_TURN_LEFT;
            }
        }
        return NoOpAction.NO_OP; 
        
    }
}
 
public class MyVacuumAgent extends AbstractAgent {
    public MyVacuumAgent() {
        super(new MyAgentProgram());
    }
}