package IndoorNavigationWaypointTracing;

import jade.core.Profile;
import jade.core.ProfileImpl;
import jade.wrapper.AgentController;
import jade.wrapper.StaleProxyException;

public class Launch {

		
	//-----------------------------------------user inputs------------------------------------------------------//
	
	//Planning model paths
	public static final String domainFilePath = "/home/ys/eclipse-workspace/AutoRobot/PDDLFiles/domain_turtlebot.pddl";
	public static final String problemFilePath = "/home/ys/eclipse-workspace/AutoRobot/PDDLFiles/problem_turtlebot.pddl";
	
	//ROS services	
	public static final String problemGenerationServiceName = "/rosplan_problem_interface/problem_generation_server";
	public static final String problemGenerationServiceType = "std_srvs/Empty";
	
	public static final String planServiceName = "/rosplan_planner_interface/planning_server";
	public static final String planServiceType = "std_srvs/Empty";
	
	public static final String parseServiceName = "/rosplan_parsing_interface/parse_plan";
	public static final String parseServiceType = "std_srvs/Empty";
	
	public static final String dispatchServiceName = "/rosplan_plan_dispatcher/dispatch_plan";
	public static final String dispatchServiceType = "rosplan_dispatch_msgs/DispatchService";
	//public static final String dispatchServiceType = "std_srvs/Empty";
	
	//ROS topics
	public static final String actionDispatchFeedbackTopicName = "/rosplan_plan_dispatcher/action_feedback";
	public static final String actionDispatchFeedbackTopicType = "rosplan_dispatch_msgs/ActionFeedback";
	
	//ROS topics
	public static final String planTopicName = "/rosplan_planner_interface/planner_output";
	public static final String planType = "std_msgs/String";
	
	//DataStore keys
	public static final String planDispatchDataKey = "planDispatch";
	public static final String planFeedbackDataKey = "planFeedback";
	public static final String actionDispatchDataKey = "actionDispatch";
	public static String actionFeedbackDataKey = "actionFeedback";
	

	public static void main(String[] args) throws InterruptedException {
			
		//automatically generated
		jade.core.Runtime rt = jade.core.Runtime.instance();
		Profile pContainer = new ProfileImpl(null, 8888, null);

		rt.setCloseVM(true);

		Profile pMain = new ProfileImpl(null, 1099, null);
		pMain.setParameter(Profile.SERVICES, "jade.core.messaging.TopicManagementService");

		System.out.println("Launching a whole in-process platform..." + pMain);
		jade.wrapper.AgentContainer mc = rt.createMainContainer(pMain);
		jade.wrapper.AgentContainer agentContainer = rt.createAgentContainer(pContainer);
		System.out.println("continue");

		 	try {
				AgentController PlannerAgentAgent = agentContainer.createNewAgent("PlannerAgent", "IndoorNavigationWaypointTracing.MultiAgentSystem.PlannerAgent", null);
				PlannerAgentAgent.start();
			} catch (StaleProxyException e) {
				e.printStackTrace();
			}
			
			Thread.sleep(15000);
			
		 	try {
				AgentController PlanDispatchAgentAgent = agentContainer.createNewAgent("PlanDispatchAgent", "IndoorNavigationWaypointTracing.MultiAgentSystem.PlanDispatchAgent", null);
				PlanDispatchAgentAgent.start();
			} catch (StaleProxyException e) {
				e.printStackTrace();
			}
			
			Thread.sleep(15000);
			
		 	try {
				AgentController MoveAgentAgent = agentContainer.createNewAgent("MoveAgent", "IndoorNavigationWaypointTracing.MultiAgentSystem.MoveAgent", null);
				MoveAgentAgent.start();
			} catch (StaleProxyException e) {
				e.printStackTrace();
			}
			
			Thread.sleep(15000);
			
		
		

	}

}