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/* Author: Matt Maly */

#include "ompl/control/planners/syclop/SyclopRRT.h"
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/tools/config/SelfConfig.h"

void ompl::control::SyclopRRT::setup(void)
{
    Syclop::setup();
    sampler_ = si_->allocStateSampler();
    controlSampler_ = siC_->allocDirectedControlSampler();
    lastGoalMotion_ = NULL;

    // Create a default GNAT nearest neighbors structure if the user doesn't want
    // the default regionalNN check from the discretization
    if (!nn_ && !regionalNN_)
    {
        nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion*>(si_->getStateSpace()));
        nn_->setDistanceFunction(boost::bind(&SyclopRRT::distanceFunction, this, _1, _2));
    }
}

void ompl::control::SyclopRRT::clear(void)
{
    Syclop::clear();
    freeMemory();
    if (nn_)
        nn_->clear();
    lastGoalMotion_ = NULL;
}

void ompl::control::SyclopRRT::getPlannerData(base::PlannerData& data) const
{
    Planner::getPlannerData(data);
    std::vector<Motion*> motions;
    if (nn_)
        nn_->list(motions);
    double delta = siC_->getPropagationStepSize();

    if (lastGoalMotion_)
        data.addGoalVertex (base::PlannerDataVertex(lastGoalMotion_->state));

    for (size_t i = 0; i < motions.size(); ++i)
    {
        if (motions[i]->parent)
        {
            if (data.hasControls())
                data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
                              base::PlannerDataVertex(motions[i]->state),
                              control::PlannerDataEdgeControl (motions[i]->control, motions[i]->steps * delta));
            else
                data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
                              base::PlannerDataVertex(motions[i]->state));
        }
        else
            data.addStartVertex (base::PlannerDataVertex(motions[i]->state));
    }
}

ompl::control::Syclop::Motion* ompl::control::SyclopRRT::addRoot(const base::State* s)
{
    Motion* motion = new Motion(siC_);
    si_->copyState(motion->state, s);
    siC_->nullControl(motion->control);

    if (nn_)
        nn_->add(motion);
    return motion;
}

void ompl::control::SyclopRRT::selectAndExtend(Region& region, std::vector<Motion*>& newMotions)
{
    Motion* rmotion = new Motion(siC_);
    base::StateSamplerPtr sampler(si_->allocStateSampler());
    decomp_->sampleFromRegion(region.index, sampler, rmotion->state);

    Motion* nmotion;
    if (regionalNN_)
    {
        /* Instead of querying the nearest neighbors datastructure over the entire tree of motions,
         * here we perform a linear search over all motions in the selected region and its neighbors. */
        std::vector<int> searchRegions;
        decomp_->getNeighbors(region.index, searchRegions);
        searchRegions.push_back(region.index);

        std::vector<Motion*> motions;
        for (std::vector<int>::const_iterator i = searchRegions.begin(); i != searchRegions.end(); ++i)
        {
            const std::vector<Motion*>& regionMotions = getRegionFromIndex(*i).motions;
            motions.insert(motions.end(), regionMotions.begin(), regionMotions.end());
        }

        std::vector<Motion*>::const_iterator i = motions.begin();
        nmotion = *i;
        double minDistance = distanceFunction(rmotion, nmotion);
        ++i;
        while (i != motions.end())
        {
            Motion* m = *i;
            const double dist = distanceFunction(rmotion, m);
            if (dist < minDistance)
            {
                nmotion = m;
                minDistance = dist;
            }
            ++i;
        }
    }
    else
    {
        assert (nn_);
        nmotion = nn_->nearest(rmotion);
    }

    base::State* newState = si_->allocState();

    unsigned int duration = controlSampler_->sampleTo(rmotion->control, nmotion->control, nmotion->state, rmotion->state);

    duration = siC_->propagateWhileValid(nmotion->state, rmotion->control, duration, newState);

    if (duration >= siC_->getMinControlDuration())
    {
        Motion* motion = new Motion(siC_);
        si_->copyState(motion->state, newState);
        siC_->copyControl(motion->control, rmotion->control);
        motion->steps = duration;
        motion->parent = nmotion;
        newMotions.push_back(motion);
        if (nn_)
            nn_->add(motion);
        lastGoalMotion_ = motion;
    }

    si_->freeState(rmotion->state);
    siC_->freeControl(rmotion->control);
    delete rmotion;
    si_->freeState(newState);
}

void ompl::control::SyclopRRT::freeMemory(void)
{
    if (nn_)
    {
        std::vector<Motion*> motions;
        nn_->list(motions);
        for (std::vector<Motion*>::iterator i = motions.begin(); i != motions.end(); ++i)
        {
            Motion* m = *i;
            if (m->state)
                si_->freeState(m->state);
            if (m->control)
                siC_->freeControl(m->control);
            delete m;
        }
    }
}