//team crater 1.124 class project, Dec 04, 1997

import java.util.*;
import java.applet.Applet;
import java.io.*;
import java.awt.event.*;
import java.awt.*;
import java.awt.image.*;

public class MarsRover extends Applet implements Runnable {
  TextArea outputMessage;
  TextField gemValueOutput;
  Button startButton,stopButton,resetButton;
  Image bgImage;
  static Rover mRover;
  RoverCanvas roverCanvas;
  Thread runner = null;
  int canvasWidth = 512;
  int canvasHeight = 512;
  int total_gem_value = 0;
  
  int command[] = new int[6000];
  int k,stop_point=0;

  ImageProcessor imageProcessor;
  int[] gemList, gemValueList, obstacleList;

  FindPath foo = new FindPath();
 
  public MarsRover(){
    setLayout(new BorderLayout());
    setFont(new Font("Helvetica", Font.PLAIN, 14));
    Panel controlPanel = new Panel();
    controlPanel.setLayout(new GridLayout(1,0));
    startButton = new Button("Start");
    stopButton  = new Button("Stop");
    resetButton = new Button("Reset");
    controlPanel.add(startButton);
    controlPanel.add(stopButton);
    controlPanel.add(resetButton);
    add("North",controlPanel);

    outputMessage = new TextArea(20,0);
    outputMessage.setBackground(Color.white);
    outputMessage.setEditable(false);
    add("South",outputMessage);

    // add roverCanvas latter in init()
  }

  public void init(){

    bgImage = Toolkit.getDefaultToolkit().getImage("mars.gif");
    mRover = new Rover(this);
    imageProcessor=new ImageProcessor(this,bgImage,canvasWidth,canvasHeight);    

    //add canvasPanel
    Panel canvasPanel = new Panel();
    GridBagLayout gridBag = new GridBagLayout();
    canvasPanel.setLayout(gridBag);
    GridBagConstraints c = new GridBagConstraints();
    c.anchor    = GridBagConstraints.CENTER;
    c.gridwidth = GridBagConstraints.REMAINDER;
    c.fill = GridBagConstraints.HORIZONTAL;
    roverCanvas = new RoverCanvas(this,bgImage,mRover,canvasWidth,canvasHeight);
    gridBag.setConstraints(roverCanvas,c);
    canvasPanel.add(roverCanvas);

    c.gridwidth = 1;
    c.gridheight = 1;
    Label label = new Label("Total gem values = ");
    gridBag.setConstraints(label,c);
    canvasPanel.add(label);
    c.weightx = 0.0;
    c.anchor = GridBagConstraints.WEST;
    c.fill = GridBagConstraints.NONE;
    c.gridwidth = GridBagConstraints.REMAINDER;
    gemValueOutput = new TextField("0",15);
    gemValueOutput.setEditable(false);
    gridBag.setConstraints(gemValueOutput,c);
    canvasPanel.add(gemValueOutput);
    add("Center",canvasPanel);
  }

  public void fire(){
    if (runner == null){
      runner = new Thread(this);
      runner.setPriority(Thread.MIN_PRIORITY);
      runner.start();
    }
  }
   
  public void run(){
    k=stop_point;

    if (runner==null) System.out.println("runner=null");

    imageProcessor.imageScanner();
    //imageProcessor.outputToFile();
    gemValueList = imageProcessor.gemValueLister();
    roverCanvas.first_time_paint = false;

    //This native code
    foo.findPaths(imageProcessor.obstacleLister(), imageProcessor.gemLister(), command);

    while (runner != null) 
    { 
      if(command[k]==10)
      {
          k++;
          total_gem_value+=gemValueList[command[k]];
          postMessage("Got one! The value is "+gemValueList[command[k]]);
          postGemValue(total_gem_value);
      }
      else if (command[k] == -1)
      {
        roverCanvas.final_announcement = true;
        roverCanvas.repaint();
        postMessage("Mission Completed");
        runner.stop();
        runner=null;
      }
      else
      {
          mRover.move(command[k]);
          if(command[k] == 8 || command[k] == 9)
            roverCanvas.rotate_flag = true;
          roverCanvas.repaint();
          try {
              Thread.sleep(5);
          }
          catch (InterruptedException e){
          }
      }
      k++;
    }
  }
  
  public boolean action(Event e, Object obj) {
    if (obj.equals("Start"))
    {
       fire();
    }
    else if (obj.equals("Stop"))
    {
      if(runner != null)
      {
        runner.stop();      
        runner = null;
	stop_point=k;
      }
    }
    else if (obj.equals("Reset")){
      if(runner != null){
        runner.stop();      
        runner = null;
      }
       
      stop_point = 0;
      total_gem_value = 0;
      roverCanvas.bgdraw = true;
      roverCanvas.bgdrawcomplete = true;
      roverCanvas.first_time_paint = true;
      roverCanvas.rotate_flag = false;
      roverCanvas.final_announcement = false;
      postGemValue(0);

      mRover.rover_x[0]=0;
      mRover.rover_x[1]=0;
      mRover.rover_x[2]=29;
      mRover.rover_x[3]=29;
      mRover.rover_y[0]=0;
      mRover.rover_y[1]=19;
      mRover.rover_y[2]=19;
      mRover.rover_y[3]=0;  
      roverCanvas.repaint();
    }
    return true;
  }

  public void postMessage(String message){
    outputMessage.append(message+"\n");
  }

  public void postGemValue(int value){
    String str = value+"";
    gemValueOutput.setText(str);
  }

  public static void main(String args[]){
    MarsRover marsApplet = new MarsRover();
    new MainWindow(marsApplet,600,800);
  }
}
  
class MainWindow extends Frame{
  MainWindow(MarsRover marsApplet,int iWidth,int iHeight){
    setSize(iWidth,iHeight);
    setTitle(marsApplet.getClass().getName());
    enableEvents(AWTEvent.WINDOW_EVENT_MASK);
    add("Center",marsApplet);
    marsApplet.init();
    marsApplet.start();
    show();
  }
 
  public void processWindowEvent(WindowEvent event) {
    if (event.getID() == WindowEvent.WINDOW_CLOSING) {
      System.exit(0);
    }
  }
}

 
class RoverCanvas extends Canvas{
  MarsRover roverApplet;
  static Rover rover;
  static int mWidth,mHeight;
  static Image bgImage;
  static public boolean bgdraw = true;  
  static public boolean bgdrawcomplete = false;

  public boolean first_time_paint = true;
  public boolean rotate_flag = false;
  public boolean final_announcement = false;  

  public RoverCanvas(MarsRover roverApplet,Image image,Rover rover,
                   int iWidth,int iHeight) {
    mWidth  = iWidth;
    mHeight = iHeight;
    this.roverApplet = roverApplet;
    this.rover  = rover;
    bgImage = image; 
  }

  public Dimension minimumSize() {
    return new Dimension(mWidth,mHeight);
  }
 
  public Dimension preferredSize() {
    return minimumSize();
  }
  
  public void update(Graphics g) {
    if (bgdraw) {
      g.drawImage(bgImage,0,0,this);
      bgdraw = false;
    }
    
    if (bgdrawcomplete) {
      int x_vertex[] = new int[4];
      int y_vertex[] = new int[4];

      g.setColor(Color.black);
      x_vertex[0] = (int)rover.rover_x[0];
      x_vertex[1] = (int)rover.rover_x[1];
      x_vertex[2] = (int)rover.rover_x[2];
      x_vertex[3] = (int)rover.rover_x[3];
      y_vertex[0] = (int)rover.rover_y[0];
      y_vertex[1] = (int)rover.rover_y[1];
      y_vertex[2] = (int)rover.rover_y[2];
      y_vertex[3] = (int)rover.rover_y[3];
      Polygon poly=new Polygon(x_vertex,y_vertex,4);
      if(first_time_paint || rotate_flag)
      {
        g.fillPolygon(poly);
        rotate_flag = false;
      }
      else if(final_announcement) // from jyu
      {
        g.setFont(new Font("Helvetica", Font.BOLD, 30));
        g.setColor(Color.white);
        g.drawString("Mission Complete",mWidth/4,mHeight/2);
      } 
      else
        g.fillPolygon(poly);
    }
  }

  public void paint(Graphics g) {
    bgdraw = true;
    update(g);
  }
  
  public synchronized boolean imageUpdate(Image image,int flags,
                                           int x,int y,int w,int h){
    boolean done = ((flags & ALLBITS) !=0);
    
    if(done){
      if(image == bgImage){
      roverApplet.postMessage("Finish loading background image");
      bgdrawcomplete = true;
      bgdraw = true;
      repaint();
      //roverApplet.fire();
      }
    }
    return !done;
  }
}

class Rover {
  MarsRover marsApplet;
  public float rover_x[]={0,0,29,29};
  public float rover_y[]={0,19,19,0};
  float x_c,y_c;
  float local_x[]={0f,0f,0f,0f};
  float local_y[]={0f,0f,0f,0f};

  final float cos_five_deg = (float)Math.cos(5.0*Math.PI/180.0);
  final float sin_five_deg = (float)Math.sin(5.0*Math.PI/180.0);
    
  public Rover(MarsRover applet) {
    marsApplet = applet;
    x_c=y_c=0f;
  }
    
  public void move(int i){
    int j;

    switch (i) {
      case 0:
            for(j=0;j<4;j++)
              rover_x[j]+=1;
            break;
      case 1:
            for(j=0;j<4;j++){
	      rover_x[j]+=1;
	      rover_y[j]-=1;
	    }
	    break;
      case 2:
	    for(j=0;j<4;j++){
	      rover_y[j]-=1;
	    }
	    break;
      case 3:
	    for(j=0;j<4;j++){
	      rover_x[j]-=1;
	      rover_y[j]-=1;
	    }
	    break;
      case 4:
	    for(j=0;j<4;j++){
	      rover_x[j]+=-1;
	    }
	    break;
      case 5:
	    for(j=0;j<4;j++){
	      rover_x[j]-=1;
	      rover_y[j]+=1;
	    }
	    break;
      case 6:
	    for(j=0;j<4;j++){
	      rover_y[j]+=1;
	    }
	    break;
      case 7:
	    for(j=0;j<4;j++){
	      rover_x[j]+=1;
	      rover_y[j]+=1;
	    }
	    break;
      case 8:
            rotate(5);
	    break;
      case 9:
            rotate(-5);
	    break;
      default: 
            System.out.println("Command code out of range!");
            System.out.println("Command = "+i);
     }
  }

  public void rotate(int theta){
    int j;

    float cos_theta = (float)Math.cos(theta*Math.PI/180.0);
    float sin_theta = (float)Math.sin(theta*Math.PI/180.0);
  
    x_c=0.25f*(float)(rover_x[0]+rover_x[1]+rover_x[2]+rover_x[3]);
    y_c=0.25f*(float)(rover_y[0]+rover_y[1]+rover_y[2]+rover_y[3]);
    for(j=0;j<4;j++){
      local_x[j]=(float)rover_x[j]-x_c;
      local_y[j]=(float)rover_y[j]-y_c;
    }
    for(j=0;j<4;j++){
      rover_x[j]=x_c+cos_theta*local_x[j]-sin_theta*local_y[j];
      rover_y[j]=y_c+sin_theta*local_x[j]+cos_theta*local_y[j];
    }
  }
}