pstlab / PLATINUm

import java.util.ArrayList;

import java.util.HashMap;

import java.util.HashSet;

import java.util.Iterator;

import java.util.LinkedList;

import java.util.List;

import java.util.Map;

import java.util.Set;

import java.util.concurrent.atomic.AtomicInteger;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.FrameworkObject;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.ex.InconsistentDistanceConstraintException;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.ex.InconsistentTpValueException;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.ex.TemporalNetworkTransactionFailureException;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.ex.TimePointNotFoundException;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.AddRelationTemporalNetworkNotification;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.AddTimePointTemporalNetworkNotification;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.DelRelationTemporalNetworkNotification;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.DelTimePointTemporalNetworkNotification;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.TemporalNetworkNotificationFactory;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.TemporalNetworkNotificationTypes;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.lang.event.TemporalNetworkObserver;

/**

 * 

 * @author alessandro

 *

 */

public abstract class TemporalNetwork extends FrameworkObject 

{

	private final AtomicInteger COUNTER = new AtomicInteger(0);				// time point ID counter

	protected long origin;

	protected long horizon;

	// origin time point

	protected TimePoint tpOrigin;

	// horizon time point

	protected TimePoint tpHorizion;

	// data structures

	protected Set<TimePoint> recyclePoints;

	// temporal network observers

	private final List<TemporalNetworkObserver> observers;

	/**

	 * Creates and initialize a Temporal Network instance.

	 * 

	 * The constructor takes as input a temporal origin and a 

	 * temporal horizon. These values determine the lower and the 

	 * upper bounds of time points variables respectively.

	 * 

	 * @param origin

	 * @param horizon

	 */

	protected TemporalNetwork(long origin, long horizon) {

		super();

		// initialize data

		this.origin = origin;

		this.horizon = horizon;

		// create the origin time point

		this.tpOrigin = new TimePoint(COUNTER.getAndIncrement(), origin, origin);

		this.tpOrigin.setLowerBound(origin);

		this.tpOrigin.setUpperBound(origin);

		// create the horizon time point

		this.tpHorizion = new TimePoint(COUNTER.getAndIncrement(), horizon, horizon);

		this.tpHorizion.setLowerBound(horizon);

		this.tpHorizion.setUpperBound(horizon);

		// setup recycle points and observers

		this.recyclePoints = new HashSet<TimePoint>();

		this.observers = new LinkedList<TemporalNetworkObserver>();

	}

	/**

	 * Subscribes a new observer to the Temporal Network

	 * 

	 * @param obs

	 */

	public final void subscribe(TemporalNetworkObserver obs) {

		synchronized (this.observers) {

			// add observer

			this.observers.add(obs);

		}

	}

	/**

	 * Returns the value of the origin

	 * 

	 * @return

	 */

	public final long getOrigin() {

		return origin;

	}

	/**

	 * Returns the value of the horizon

	 * 

	 * @return

	 */

	public final long getHorizon() {

		return this.horizon;

	}

	/**

	 * 

	 * @return

	 */

	public abstract int size();

	/**

	 * Returns the temporal origin reference time point

	 * 

	 * @return

	 */

	public final TimePoint getOriginTimePoint() {

		return this.tpOrigin;

	}

	/**

	 * 

	 * @return

	 */

	public final TimePoint getHorizonTimePoint() {

		return this.tpHorizion;

	}

	/**

	 * Returns the time point with selected id

	 * 

	 * @param id

	 * @return

	 * @throws TimePointNotFoundException

	 */

	public abstract TimePoint getTimePoint(int id) 

			throws TimePointNotFoundException;

	/**

	 * Returns all the time points of the temporal network

	 * 

	 * @return

	 */

	public abstract List<TimePoint> getTimePoints();

	/**

	 * Returns all distance constraints where the specified 

	 * time point is the source of the constraint

	 * 

	 * @param tp

	 * @return

	 */

	public abstract List<TimePointDistanceConstraint> getConstraints(TimePoint tp);

	/**

	 * Returns the list of all distance constraints of the network

	 * 

	 * @return

	 */

	public List<TimePointDistanceConstraint> getConstraints() {

		Set<TimePointDistanceConstraint> set = new HashSet<>();

		for (TimePoint tp : this.getTimePoints()) {

			// add constraints

			set.addAll(this.getConstraints(tp));

		}

		return new ArrayList<>(set);

	}

	/**

	 * Returns all distance constraints involving time points tp1 and tp2. The 

	 * method returns both constraints (tp1,tp2) and constraints (tp2,tp1) if

	 * they exist

	 * 

	 * @param tp1

	 * @param tp2

	 * @return

	 */

	public abstract List<TimePointDistanceConstraint> getConstraints(TimePoint tp1, TimePoint tp2);

	/**

	 * Returns the distance constraint between the origin of the network and the time point.

	 * 

	 * The method returns null if no constraint is found

	 * 

	 * @param point

	 * @return

	 */

	public abstract List<TimePointDistanceConstraint> getConstraintFromOrigin(TimePoint point);

	/**

	 * 

	 * @param tp

	 * @return

	 */

	public abstract List<TimePointDistanceConstraint> getConstraintToHorizon(TimePoint tp);

	/**

	 * Creates a new flexible TimePoint

	 * 

	 * The method can also use a previously created (and 

	 * deleted) time point rather than create a new instance

	 * 

	 * @return

	 * @throws InconsistentDistanceConstraintException

	 */

	public final TimePoint addTimePoint() 

			throws InconsistentDistanceConstraintException {

		// create a time point or use a previous created one

		TimePoint tp = null;

		// extract the first element

		Iterator<TimePoint> it = this.recyclePoints.iterator();

		// check among recycled time points first

		if (it.hasNext()) {

			// extract next time point

			tp = it.next();

			// remove time point from the set

			it.remove();

		}

		else {

			// actually create flexible time point

			tp = new TimePoint(COUNTER.getAndIncrement(), this.origin, this.horizon);

		}

		// add time point to the network

		this.doAddTimePoint(tp);

		// create notification

		AddTimePointTemporalNetworkNotification info = TemporalNetworkNotificationFactory.

				createNotification(TemporalNetworkNotificationTypes.ADD_TP);

		// add time point

		info.addTimePoint(tp);

		// check observers

		synchronized (this.observers) {

			// notify observers

			for (TemporalNetworkObserver obs : this.observers) {

				// do notify 

				obs.notify(info);

			}

		}

		// return new time point

		return tp;

	}

	/**

	 * Creates N flexible time points 

	 * 

	 * The method can also use previously created (and 

	 * deleted) time points rather than create new instances

	 * 

	 * @param n

	 * @return

	 * @throws TemporalNetworkTransactionFailureException

	 * 

	 */

	public final List<TimePoint> addTimePoints(int n) 

			throws TemporalNetworkTransactionFailureException 

	{

		// notify flag

		boolean notify = true;

		// create notification

		AddTimePointTemporalNetworkNotification info = TemporalNetworkNotificationFactory.

				createNotification(TemporalNetworkNotificationTypes.ADD_TP);

		try {

			// create time points

			for (int i= 0; i < n; i++) {

				// create a flexible time point

				TimePoint tp = this.addTimePoint();

				// add time point to the notification

				info.addTimePoint(tp);

			}

		}

		catch (InconsistentDistanceConstraintException ex) {

			// remove created time points

			for (TimePoint tp : info.getPoints()) {

				// remove created time point

				this.doRemoveTimePoint(tp);

			}

			// do not notify

			notify = false;

			// throw exception

			throw new TemporalNetworkTransactionFailureException(ex.getMessage());

		}

		finally {

			// check if notification is necessary

			if (notify) {

				// check observers

				synchronized (this.observers) {

					// notify observers

					for (TemporalNetworkObserver obs : this.observers) {

						// do notify

						obs.notify(info);

					}

				}

			}

		}

		// get time points

		return info.getPoints();

	}

	/**

	 * Creates a new TimePoint and fix it into the network at

	 * the desired time (at)

	 * 

	 * The method throws an exception if the specified value (at)

	 * is out of the temporal network domain

	 * 

	 * The method can also use a previously created (and deleted) time

	 * point rather than create a new instance

	 * 

	 * @param at

	 * @return

	 * @throws InconsistentTpValueException

	 */

			throws InconsistentTpValueException, InconsistentDistanceConstraintException {

		// check desired value

		if (at < this.origin || at > this.horizon) {

			// inconsistent value

			throw new InconsistentTpValueException("TimePoint value (= " + at +") out of the domain [origin= " + this.origin + ", horizon= " + this.horizon);

		}

		// create a time point or use a previous created one

		TimePoint tp = null;

		// extract the first element

		Iterator<TimePoint> it = this.recyclePoints.iterator();

		// check recycled time points first

		if (it.hasNext()) {

			// extract next time point

			tp = it.next();

			// set bounds

			tp.setDomLb(at);

			tp.setDomUb(at);

			// remove time point from the underlying set

			it.remove();

		}

		else {

			// create time point

			tp = new TimePoint(COUNTER.getAndIncrement(), at, at);

		}

		// add time point to the network

		this.doAddTimePoint(tp);

		// create notification

		AddTimePointTemporalNetworkNotification info = TemporalNetworkNotificationFactory.createNotification(TemporalNetworkNotificationTypes.ADD_TP);

		info.addTimePoint(tp);

		// check observers

		synchronized (this.observers) {

			// notify observers

			for (TemporalNetworkObserver obs : this.observers) {

				// do notify

				obs.notify(info);

			}

		}

		// return new time point

		return tp;

	}

	/**

	 * 

	 * @param lb

	 * @param ub

	 * @return

	 * @throws InconsistentTpValueException

	 * @throws InconsistentDistanceConstraintException

	 */

	/**

	 * 

	 * @param tp

	 * @throws InconsistentDistanceConstraintException

	 */

	protected abstract void doAddTimePoint(TimePoint tp) 

			throws InconsistentDistanceConstraintException;

	/**

	 * Removes a Time Point from the network

	 * 

	 * @param tp

	 */

	public final void removeTimePoint(TimePoint tp) 

	{

		// delete time point

		this.doRemoveTimePoint(tp);

		// add time point to recycle list

		this.recyclePoints.add(tp);

		// create notification

		DelTimePointTemporalNetworkNotification info = TemporalNetworkNotificationFactory

				.createNotification(TemporalNetworkNotificationTypes.DEL_TP);

		info.addTimePoint(tp);

		// check observers

		synchronized (this.observers) {

			// notify observers

			for (TemporalNetworkObserver obs : this.observers) {

				// do notify

				obs.notify(info);

			}

		}

	}

	/**

	 * 

	 * Remove a list of time points from the temporal network 

	 * 

	 * @param tps

	 */

	public final synchronized void removeTimePoints(List<TimePoint> tps) {

		// create notification

		DelTimePointTemporalNetworkNotification info = TemporalNetworkNotificationFactory

				.createNotification(TemporalNetworkNotificationTypes.DEL_TP);

		// map of time points the associated distance constraints that have been removed 

		Map<TimePoint, List<TimePointDistanceConstraint>> committed = new HashMap<>();

		// check time points to remove

		for (TimePoint tp : tps) {

			// delete time point

			List<TimePointDistanceConstraint> cRemoved = this.doRemoveTimePoint(tp);

			// add time point to recycle list

			this.recyclePoints.add(tp);

			// add deleted time point to the notification

			info.addTimePoint(tp);

			// add entry to the map

			committed.put(tp, cRemoved);

		}

		// check observers 

		synchronized (this.observers) {

			// notify observers

			for (TemporalNetworkObserver obs : this.observers) {

				// do notify

				obs.notify(info);

			}

		}

	}

	/**

	 * Actually delete the selected time point from the network 

	 * and all related constraints

	 * 

	 * @param tp

	 * @return

	 */

	protected abstract List<TimePointDistanceConstraint> doRemoveTimePoint(TimePoint tp); 

	/**

	 * 

	 * @param originTimePoint

	 * @param tp1

	 * @return

	 */

	public abstract long[] getConstraintBounds(TimePoint originTimePoint, TimePoint tp1);

	/**

	 * Creates a distance constraint between two time points with the 

	 * specified lower and upper bounds

	 * 

	 * Throws an exception when trying to create a distance constraint with

	 * lower bound greater than upper bound (lb > ub)

	 * 

	 * @param constraint

	 * @return

	 * @throws InconsistentTpDistanceRelation

	 */

	public final void addDistanceConstraint(TimePointDistanceConstraint constraint) 

			throws InconsistentDistanceConstraintException {

		// check consistency of distance bound

		if (constraint.getDistanceLowerBound() > constraint.getDistanceUpperBound())  {

			// inconsistent value

			throw new InconsistentDistanceConstraintException("DistanceConstraint "

					+ "(dmin= " + constraint.getDistanceLowerBound() +", "

					+ "dmax= " + constraint.getDistanceUpperBound() + ") "

					+ "is inconsistent or it is not compatible wih the domain [origin= " + this.origin + ", horizon= " + this.horizon + "]");

		}

		// add constraint to the network and check changes

		if (this.doAddConstraint(constraint)) {

			// create notification

			AddRelationTemporalNetworkNotification info = TemporalNetworkNotificationFactory

					.createNotification(TemporalNetworkNotificationTypes.ADD_REL);

			// set constraint

			info.addRelation(constraint);

			// check observers

			synchronized (this.observers) {

				// notify observers

				for (TemporalNetworkObserver obs : this.observers) {

					// do notify

					obs.notify(info);

				}

			}

		}

	}

	/**

	 * Create N distance constraints all at once.

	 * 

	 * The method is atomic, i.e. if a constraint creation operation fails than all the 

	 * constraints previously created by the method are aborted. So if something goes wrong

	 * during the creation of constraints then the network is restored to the status before

	 * method invocation.   

	 * 

	 * @param constraints

	 * @return

	 * @throws TemporalNetworkTransactionFailureException

	 */

	public final synchronized void addDistanceConstraint(TimePointDistanceConstraint[] constraints) 

			throws TemporalNetworkTransactionFailureException 

	{

		// flag of successful operation and notification notification

		boolean notify = false;

		// create notification

		AddRelationTemporalNetworkNotification info = TemporalNetworkNotificationFactory.

				createNotification(TemporalNetworkNotificationTypes.ADD_REL);

		// list of committed distance constraints

		List<TimePointDistanceConstraint> committed = new ArrayList<>();

		try {

			// propagate constraints

			for (int i = 0; i < constraints.length; i++) {

				// get constraint

				TimePointDistanceConstraint constraint = constraints[i];

				// add constraint to network

				boolean changed = this.doAddConstraint(constraint);

				// add committed constraint

				committed.add(constraint);

				// check if something changes 

				if (changed) {

					// add constraint to notification

					info.addRelation(constraint);

					// set notify flag

					notify = true;

				}

			}

		}

		catch (InconsistentDistanceConstraintException ex ) {

			// remove all committed constraints

			for (TimePointDistanceConstraint tpd : committed) {

				// remove added constraint

				this.doRemoveDistanceConstraint(tpd);

			}

			// do not send notification

			notify = false;

			// throw exception

			throw new TemporalNetworkTransactionFailureException("Error while creating temporal constraints - Rollback Transaction");

		}

		finally {

			// check if transaction has been successfully done and a notification should be sent

			if (notify) {

				// check observers

				synchronized (this.observers) {

					// notify observers

					for (TemporalNetworkObserver obs : this.observers) {

						// do notify

						obs.notify(info);

					}

				}

			}

		}

	}

	/**

	 * 

	 * @param rel

	 * @throws InconsistentDistanceConstraintException

	 */

	protected abstract boolean doAddConstraint(TimePointDistanceConstraint rel) 

			throws InconsistentDistanceConstraintException;

	/**

	 * Removes the distance constraint from the network

	 * 

	 * @param rel

	 */

	public final void removeConstraint(TimePointDistanceConstraint rel)  

	{

		// remove temporal relation and check if a notification should be sent

		if (this.doRemoveDistanceConstraint(rel)) {

			// create notification

			DelRelationTemporalNetworkNotification info = TemporalNetworkNotificationFactory.createNotification(TemporalNetworkNotificationTypes.DEL_REL);

			info.addRelation(rel);

			// check observers

			synchronized (this.observers) {

				// notify observers

				for (TemporalNetworkObserver obs : this.observers) {

					// do notify

					obs.notify(info);

				}

			}

		}

	}

	/**

	 * Removes N distance constraints all at once

	 *

	 * @param rels

	 */

	public final void removeDistanceConstraint(List<TimePointDistanceConstraint> rels) 

	{

		// notification flag

		boolean notify = false;

		// create notification

		DelRelationTemporalNetworkNotification info = TemporalNetworkNotificationFactory

				.createNotification(TemporalNetworkNotificationTypes.DEL_REL);

		// get constraints to delete

		for (TimePointDistanceConstraint rel : rels) {

			// remove temporal relation

			if (this.doRemoveDistanceConstraint(rel)) {

				// set notification flag

				notify = true;

			}

			// add constraint to notify

			info.addRelation(rel);

		}

		// check if a notification is necessary

		if (notify) {

			// check observers

			synchronized (this.observers) {

				// notify observers

				for (TemporalNetworkObserver obs : this.observers) {

					// do notify

					obs.notify(info);

				}

			}

		}

	}

	/**

	 * Actually remove constraint from network

	 * 

	 * @param rel

	 * @return

	 */

	protected abstract boolean doRemoveDistanceConstraint(TimePointDistanceConstraint rel);

	/**

	 * 

	 * @param lb

	 * @param ub

	 * @return

	 */

	protected TimePoint createTimePoint(long lb, long ub) {

		return new TimePoint(COUNTER.getAndIncrement(), lb, ub);

	}

	/**

	 * 

	 * @param from

	 * @param to

	 * @param distance

	 * @param controllable

	 * @return

	 */

	protected final TimePointDistanceConstraint createDistanceConstraint(TimePoint from, TimePoint to, long[] distance, boolean controllable) 

	{

		// create constraint

		TimePointDistanceConstraint c = new TimePointDistanceConstraint();

		c.setReference(from);

		c.setTarget(to);

		c.setDistanceLowerBound(distance[0]);

		c.setDistanceUpperBound(distance[1]);

		c.setControllable(controllable);

		// get constraint

		return c;

	}

	/**

	 * 

	 */

	public abstract void printDiagnosticData();