import java.util.ArrayList;
  
  public class ActionList {
  	private ArrayList<Action> actions;

  	private SerialCom serialCom;

  	public ActionList(SerialCom serialCom) {
  		this.serialCom = serialCom;

  		actions = new ArrayList<>();
  		actions.add(new Action());
  	}

  	public ActionList(int[] leftDeltaArray, int[] rightDeltaArray, long[] leftDelaiArray, long[] rightDelaiArray) {

  		if(leftDelaiArray.length != rightDelaiArray.length
  				|| leftDelaiArray.length != leftDelaiArray.length
  				|| leftDelaiArray.length != rightDelaiArray.length)
  			throw new InvalidActionListArrays();
  		actions = new ArrayList<>();
  		for(int i=0; i<leftDeltaArray.length; i++)
  			actions.add(new Action(leftDeltaArray[i], rightDeltaArray[i], leftDelaiArray[i], rightDelaiArray[i]));
  		actions.add(new Action());
  	}
  	

  	public void addToActionList(int i, int j, int step) {

  		switch (j * 10 + i) {
  		case 00: //ACTION_LEFT_PLUS;
  			addToLastAction(step, 0);
  			break;
  		case 02: //ACTION_LEFT_MINUS;
  			addToLastAction(-step, 0);
  			break;
  		case 20: //ACTION_RIGHT_PLUS;
  			addToLastAction(0, step);
  			break;
  		case 22: //ACTION_RIGHT_MINUS;
  			addToLastAction(0, -step);
  			break;
  		case 10: //ACTION_FORWARD;
  			addToLastAction(step, step);
  			break;
  		case 12: //ACTION_BACKWARD;
  			addToLastAction(-step, -step);
  			break;
  		case 01: //ACTION_CLOCKWISE;
  			addToLastAction(step, -step);
  			break;
  		case 21: //ACTION_ANTI_CLOCKWISE;
  			addToLastAction(-step, step);
  			break;
  		default:
  			throw new InvalidInputException();
  		}
  	}
  	
  	public void completeAction() {
  		if(!actions.get(actions.size() - 1).isEmpty())
  			actions.add(new Action());
  	}
  	
  	public void completeActionAndAddPause(long delai) {
  		if(actions.get(actions.size() - 1).isEmpty())
  			actions.set(actions.size() - 1, new Action(0, 0, delai, delai));
  		else
  			actions.add(new Action(0, 0, delai, delai));
  		completeAction();
  	}
  	

  	private void addToLastAction(int deltaL, int deltaR) {

  		actions.get(actions.size() - 1).addDeltaL(deltaL);
  		actions.get(actions.size() - 1).addDeltaR(deltaR);

  		SerialCommands.sendDeltas(serialCom, deltaL, deltaR);

  	}
  	
  	public void revertLastAction() {
  		if(actions.size() <= 0)
  			return;

  
  		Action toRevert = null;

  		if(actions.get(actions.size() - 1).isEmpty()) {
  			actions.remove(actions.size() - 1);

  			if(actions.size() != 0) {
  				toRevert = actions.get(actions.size() - 1);

  				actions.set(actions.size() - 1, new Action());

  			}

  			else
  				actions.add(new Action());
  		} else {

  			toRevert = actions.get(actions.size() - 1);

  			actions.set(actions.size() - 1, new Action());
  		}

  		if(toRevert != null)
  			SerialCommands.sendDeltas(serialCom, -toRevert.getDeltaL(), -toRevert.getDeltaR());

  	}
  	
  	public String getLeftDeltaArray() {
  		String str = "{";
  		for(Action action : actions) {
  			if(!action.isEmpty())

  				str += String.valueOf(action.getDeltaL()) + ", ";

  		}
  		str = str.substring(0, str.length() - 2) + "}";
  		return str;
  	}
  	public String getRightDeltaArray() {
  		String str = "{";
  		for(Action action : actions) {
  			if(!action.isEmpty())

  				str += String.valueOf(action.getDeltaR()) + ", ";

  		}
  		str = str.substring(0, str.length() - 2) + "}";
  		return str;
  	}
  	public String getLeftDelaiArray() {
  		String str = "{";
  		for(Action action : actions) {
  			if(!action.isEmpty())
  				str += String.valueOf(action.getDeltaR()) + "L, ";
  		}
  		str = str.substring(0, str.length() - 2) + "}";
  		return str;
  	}
  	public String getRightDelaiArray() {
  		String str = "{";
  		for(Action action : actions) {
  			if(!action.isEmpty())
  				str += String.valueOf(action.getDeltaR()) + "L, ";
  		}
  		str = str.substring(0, str.length() - 2) + "}";
  		return str;
  	}
  	
  	@Override
  	public String toString() {
  		String str = "";
  		for(Action action : actions)
  			str += action.toString() + "\n";

  		str = str.substring(0, str.length() - 1); // remove last \n

  		return str;
  	}
  }