package IndoorNavigationWaypointTracing.MultiAgentSystem;

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

public class PlannerAgent extends RobotAgent 
{
	
	Request planRequest = new Request();
	Request problemGeRequest = new Request();
	
	private AID PlanDispatchAgent = new AID("PlanDispatchAgent", false);
	
	protected void setup() {
		//automatically generated
		this.controller.addService(Launch.problemGenerationServiceName, Launch.problemGenerationServiceType);
		//this.controller.addService(Launch.problemGenerationServiceName, Launch.problemGenerationServiceType);
		this.controller.addService(Launch.planServiceName, Launch.planServiceType);
		this.controller.getService(Launch.problemGenerationServiceName).callServiceAndWait(problemGeRequest);
		try {
        	Thread.sleep(10000);
    	} catch (InterruptedException e) {
        	e.printStackTrace();
    	}
		this.controller.getService(Launch.planServiceName).callServiceAndWait(planRequest);
		
		this.controller.addTopic(Launch.planTopicName, Launch.planType);
		
		try {
            Thread.sleep(2000);
    	} catch (InterruptedException e) {
            e.printStackTrace();
    	}
    	
		//agent communication
		//PostiveRelatedElementsWithRelation
		this.behList.addElement(new SendDataToAgentBehaviour(this, controller, PlanDispatchAgent, Launch.planDispatchDataKey));
		this.behList.addElement(new ReceiveDataFromAgentBehaviour(this, controller, PlanDispatchAgent, Launch.planFeedbackDataKey));

		addBehaviour(tbf.wrap(new ExecutionBehaviour(this, ds, this.behList)));	
	
	}
}