package com.algo;

import com.algo.model.AGVStatus;
import com.algo.model.TaskAssignment;
import com.algo.model.TaskData;
import com.algo.service.PathPlanningService;
import com.algo.service.TaskAllocationService;
import com.algo.util.AgvTaskUtils;
import com.algo.util.JsonUtils;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.springframework.boot.test.context.SpringBootTest;
import org.springframework.test.context.junit4.SpringRunner;

import java.util.List;
import java.util.Map;

@SpringBootTest
@RunWith(SpringRunner.class)
public class AlgorithmMain {


    /**
     * 任务分配测试
     */
    @Test
    public void taskAllocationService() {
        Map<String, Map<String, Integer>> pathMapping = JsonUtils.loadPathMapping("path_mapping.json");
        System.out.println(pathMapping);
        Map<String, Object> environment = JsonUtils.loadEnvironment("environment.json");
        System.out.println(environment);

        TaskAllocationService taskAllocationService = new TaskAllocationService(pathMapping, environment);

        List<AGVStatus> agvStatusList = AgvTaskUtils.loadAgvStatus("ctu_agv_status.json");
        System.out.println(agvStatusList);
        List<TaskData> taskList = AgvTaskUtils.loadTaskList("ctu_task_data.json");
        System.out.println(taskList);

        System.out.println("执行任务分配方法：");
        List<TaskAssignment> taskAssignments = taskAllocationService.allocateTasks(agvStatusList, taskList);
        System.out.println(taskAssignments);
        System.out.println("验证任务分配结果：");
        boolean validateAssignments = taskAllocationService.validateAssignments(taskAssignments);
        System.out.println(validateAssignments);
    }

    /**
     * 路径优化测试
     */
    @Test
    public void pathPlanningService() {
        Map<String, Map<String, Integer>> pathMapping = JsonUtils.loadPathMapping("path_mapping.json");
        System.out.println(pathMapping);
        Map<String, Object> environment = JsonUtils.loadEnvironment("environment.json");
        System.out.println(environment);
        List<TaskData> taskList = AgvTaskUtils.loadTaskList("ctu_task_data.json");
        System.out.println(taskList);

        PathPlanningService pathPlanningService = new PathPlanningService(pathMapping, environment, taskList);
        List<AGVStatus> agvStatusList = AgvTaskUtils.loadAgvStatus("ctu_agv_status.json");
        System.out.println(agvStatusList);
        PathPlanningService.PathPlanningResult planningResult = pathPlanningService.planAllAgvPaths(agvStatusList, true, null);
        System.out.println(planningResult);
    }

}