package IndoorNavigationWaypointTracing.MultiAgentSystem;

import IndoorNavigationWaypointTracing.Launch;
import agentBehaviourPrototype.ExecutionBehaviour;
import agentBehaviourPrototype.ReceiveDataFromAgentBehaviour;
import agentBehaviourPrototype.SendDataToAgentBehaviour;
import agentEntityPrototype.RobotAgent;
import edu.wpi.rail.jrosbridge.services.ServiceRequest;
import edu.wpi.rail.jrosbridge.services.std.Empty.Request;
import jade.core.AID;



public class PlanDispatchAgent extends RobotAgent 
{
	
	Request parseRequest = new Request();
	//Request dispatchRequest = new Request();
	ServiceRequest dispatchRequest = new ServiceRequest();
	
	private AID PlannerAgent = new AID("PlannerAgent", false);
	private AID MoveAgent = new AID("MoveAgent", false);
	
	protected void setup() {
		
		this.controller.addService(Launch.parseServiceName, Launch.parseServiceType);
		this.controller.addService(Launch.dispatchServiceName, Launch.dispatchServiceType);
		
		this.controller.getService(Launch.parseServiceName).callServiceAndWait(parseRequest);

		try {
        	Thread.sleep(10000);
    	} catch (InterruptedException e) {
        	e.printStackTrace();
    	}
			
		this.controller.getService(Launch.dispatchServiceName).callServiceAndWait(dispatchRequest);
		
		try {
            Thread.sleep(2000);
    	} catch (InterruptedException e) {
            e.printStackTrace();
    	}
		
		//agent communication
		this.behList.addElement(new SendDataToAgentBehaviour(this, controller, MoveAgent, Launch.actionDispatchDataKey));
		this.behList.addElement(new SendDataToAgentBehaviour(this, controller, PlannerAgent, Launch.planFeedbackDataKey));
		this.behList.addElement(new ReceiveDataFromAgentBehaviour(this, controller, PlannerAgent, Launch.planDispatchDataKey));
		this.behList.addElement(new ReceiveDataFromAgentBehaviour(this, controller, MoveAgent, Launch.actionFeedbackDataKey));
		
		addBehaviour(tbf.wrap(new ExecutionBehaviour(this, ds, this.behList)));
	}

}