package queries

import "http://www.example.com/simpleScenario"
import "http://www.eclipse.org/emf/2002/Ecore"

//Minimal Failing Example
@Constraint(severity = "error", key = {l}, message = "this defines the placedOn relation")
pattern patterThatOnlyWorksWithInt(l : Lane) {
	Lane.referenceCoord(l, w);
	check(w <= 2.0);
}

//////////////
//Lane
//////////////

/////////width, numWidth
@Constraint(severity="error", key={l}, message="x")
pattern define_numWidth_small(l : Lane) { 
	Lane.width(l, Size::Small);
	Lane.numWidth(l, nw);
	check(nw <= 5);
} or {
	Lane.width(l, Size::Small);
	Lane.numWidth(l, nw);
	check(nw >= 10);
}

@Constraint(severity="error", key={l}, message="x")
pattern define_numWidth_medium(l : Lane) { 
	Lane.width(l, Size::Medium);
	Lane.numWidth(l, nw);
	check(nw <= 10);
} or {
	Lane.width(l, Size::Medium);
	Lane.numWidth(l, nw);
	check(nw >= 15);
}

@Constraint(severity="error", key={l}, message="x")
pattern define_numWidth_large(l : Lane) { 
	Lane.width(l, Size::Large);
	Lane.numWidth(l, nw);
	check(nw <= 15);
} or {
	Lane.width(l, Size::Large);
	Lane.numWidth(l, nw);
	check(nw >= 20);
}

/////////referenceCoord
@Constraint(severity="error", key={l}, message="x")
pattern define_referenceCoord_horizontalAtOrigin(l:Lane) {
	1 == count find find_horizontalLaneAtOrigin(l);
}

private pattern find_horizontalLaneAtOrigin(l:Lane){
	Lane.orientation(l, Orientation::Horizontal);
	Lane.referenceCoord(l, rc);
	Lane.prevLane(l, prev);
	rc != 0.0;	
}

@Constraint(severity="error", key={l}, message="x")
pattern define_referenceCoord_verticalAtOrigin(l:Lane) {
	1 == count find find_verticalLaneAtOrigin(l);
}

private pattern find_verticalLaneAtOrigin(l:Lane){
	Lane.orientation(l, Orientation::Vertical);
	Lane.referenceCoord(l, rc);
	rc == 0.0;	
}

pattern define_referenceCoord_VerticalifMultipleLanes(l1:Lane, l2:Lane) {
	//calculated risk???
	Lane.orientation(l1, Orientation::Vertical);
	Lane.orientation(l2, Orientation::Vertical);
	Lane.referenceCoord(l1, rc1);
	Lane.numWidth(l1, nw1);
	Lane.referenceCoord(l2, rc2);
	check(rc2 == rc1 + nw1);
}


//@Constraint(severity = "error", key = {a}, message = "this defines the placedOn relation for vertical lanes")
//pattern actorOnVerticalLane(a : Actor) {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Vertical);
//    Actor.xPos(a, x);
//    Lane.referenceCoord(l, r);
//    check(x <= r);
//} or {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Vertical);
//    Actor.xPos(a, x);
//    Lane.referenceCoord(l, r);
//    Lane.numWidth(l, w);
//    check(x >= (r + w));
//}
//
//@Constraint(severity = "error", key = {a}, message = "this defines the placedOn relation for horizontal lanes")
//pattern actorOnHorizontalLane(a : Actor) {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Horizontal);
//    Actor.yPos(a, y);
//    Lane.referenceCoord(l, r);
//    check(y <= r);
//} or {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Horizontal);
//    Actor.yPos(a, y);
//    Lane.referenceCoord(l, r);
//    Lane.numWidth(l, w);
//    check(y >= (r + w));
//}

//@Constraint(severity = "error", key = {a}, message = "this defines the placedOn relation")
//pattern actorOnLane(a : Actor) {
//	find actorOnVerticalLane(a);
////	neg find actorOnHorizontalLane(a);
//}
//
//private pattern actorOnVerticalLane(a : Actor) {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Vertical);
//    Actor.xPos(a, x);
//    Lane.referenceCoord(l, r);
//    Lane.numWidth(l, w);
//    check(x >= r);
//    check(x <= (r + w));
//}

//@Constraint(severity = "error", key = {l}, message = "this defines the placedOn relation")
//pattern widthSpec(l : Lane) {
//	Lane.numWidth(l, w);
//	check(w != 5);
//}

//private pattern actorOnHorizontalLane(a : Actor) {
//    Actor.placedOn(a, l);
//    Lane.orientation(l, Orientation::Vertical);
//    Actor.yPos(a, y);
//    Lane.referenceCoord(l, r);
//    Lane.widthNum(l, w);
//    check(y >= r);
//    check(y <= (r + w));
//}

//////////////
//CollisionExists
//////////////

@Constraint(severity="error", key={c}, message="x")
pattern collisionExists_timeWithinBound(ss:SimpleScenario, c:CollisionExists) {
	SimpleScenario.actors.relations(ss, c);
	SimpleScenario.maxTime(ss, maxTime);
	CollisionExists. collisionTime(c, cTime);
	check(cTime >= maxTime);}

@Constraint(severity="error", key={c}, message="x")
pattern collisionExists_timeNotNegative(c:CollisionExists) {
	CollisionExists. collisionTime(c, cTime);
	check(cTime <= 0);}

@Constraint(severity="error", key={a1, c}, message="x")
pattern collisionExists_defineCollision_y1(a1:Actor, a2:Actor, c:CollisionExists) {
	Actor.relations(a1, c);
	CollisionExists.target(c, a2);
	
	Actor.length(a1, l1);
	Actor.yPos(a1, yPos1);
	Actor.ySpeed(a1, ySpeed1);
	Actor.length(a2, l2);
	Actor.yPos(a2, yPos2);
	Actor.ySpeed(a2, ySpeed2);
	CollisionExists. collisionTime(c, cTime);
	//check(y_1_bottom > y_2_top
	check((yPos1 + (ySpeed1 * cTime)) - (l1/2) > (yPos2 + (ySpeed2 * cTime)) + (l2/2));	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern collisionExists_defineCollision_y2(a1:Actor, a2:Actor, c:CollisionExists) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, c);
	CollisionExists.target(c, a2);
	
	Actor.length(a1, l1);
	Actor.yPos(a1, yPos1);
	Actor.ySpeed(a1, ySpeed1);
	Actor.length(a2, l2);
	Actor.yPos(a2, yPos2);
	Actor.ySpeed(a2, ySpeed2);
	CollisionExists. collisionTime(c, cTime);
	//check(y_1_top < y_2_bottom)
	check((yPos1 + (ySpeed1 * cTime)) + (l1/2) < (yPos2 + (ySpeed2 * cTime)) - (l2/2));	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern collisionExists_defineCollision_x1(a1:Actor, a2:Actor, c:CollisionExists) {
	Actor.relations(a1, c);
	CollisionExists.target(c, a2);
	
	Actor.width(a1, w1);
	Actor.xPos(a1, xPos1);
	Actor.xSpeed(a1, xSpeed1);
	Actor.width(a2, w2);
	Actor.xPos(a2, xPos2);
	Actor.xSpeed(a2, xSpeed2);
	CollisionExists. collisionTime(c, cTime);
	//check(x_1_left > x_2_right)
	check((xPos1 + (xSpeed1 * cTime)) - (w1/2) > (xPos2 + (xSpeed2 * cTime)) + (w2/2));	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern collisionExists_defineCollision_x2(a1:Actor, a2:Actor, c:CollisionExists) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, c);
	CollisionExists.target(c, a2);
	
	Actor.width(a1, w1);
	Actor.xPos(a1, xPos1);
	Actor.xSpeed(a1, xSpeed1);
	Actor.width(a2, w2);
	Actor.xPos(a2, xPos2);
	Actor.xSpeed(a2, xSpeed2);
	CollisionExists. collisionTime(c, cTime);
	//check(x_1_right < x_2_left)
	check((xPos1 + (xSpeed1 * cTime)) + (w1/2) < (xPos2 + (xSpeed2 * cTime)) - (w2/2));	
}

//////////////
//SeparationDistance
//////////////
@Constraint(severity="error", key={a1, c}, message="x")
pattern SeparationDistance_near_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, sd);
	SeparationDistance.target(sd, a2);
	SeparationDistance.distance(sd, Distance::Near);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	//check(dx^2 + dy^2 < 5^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 5*5);	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern SeparationDistance_near_ub(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, sd);
	SeparationDistance.target(sd, a2);
	SeparationDistance.distance(sd, Distance::Near);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	//check(dx^2 + dy^2 > 10^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 10*10);	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern SeparationDistance_medium_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, sd);
	SeparationDistance.target(sd, a2);
	SeparationDistance.distance(sd, Distance::Medium);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	//check(dx^2 + dy^2 < 10^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 10*10);	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern SeparationDistance_medium_ub(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, sd);
	SeparationDistance.target(sd, a2);
	SeparationDistance.distance(sd, Distance::Medium);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	//check(dx^2 + dy^2 > 1^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 15*15);	
}

@Constraint(severity="error", key={a1, c}, message="x")
pattern SeparationDistance_far_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, sd);
	SeparationDistance.target(sd, a2);
	SeparationDistance.distance(sd, Distance::Far);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	//check(dx^2 + dy^2 < 15^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);	
}

//////////////
//CollisionDoesNotExist
//////////////

@Constraint(severity="error", key={a1, c}, message="x")
pattern collisionDoesNotExist(a1:Actor, a2:Actor, ss:SimpleScenario, cdne:CollisionDoesNotExist) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	SimpleScenario.actors(ss, a1);
	SimpleScenario.actors(ss, a2);
	Actor.relations(a1, cdne);
	CollisionDoesNotExist.target(cdne, a2);
	SimpleScenario.maxTime(ss, maxTime);
	
	Actor.width(a1, w1);
	Actor.length(a1, l1);
	Actor.xPos(a1, xPos1);
	Actor.yPos(a1, yPos1);
	Actor.xSpeed(a1, xSpeed1);
	Actor.ySpeed(a1, ySpeed1);
	
	Actor.width(a2, w2);
	Actor.length(a2, l2);
	Actor.xPos(a2, xPos2);
	Actor.yPos(a2, yPos2);
	Actor.xSpeed(a2, xSpeed2);
	Actor.ySpeed(a2, ySpeed2);
	//check(dx^2 + dy^2 < 15^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);	
}

//////////////
//VisionBlocked
//////////////

//OPTIONS 1: everything is from a single check expression containing ITEs
//Currently unhandled bygenerator
pattern visionBlocked_ites_top(a1:Actor, a2:Actor, vb:VisionBlocked) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, vb);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, aBlocker);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	Actor.xPos(aBlocker, xBlocker);
	Actor.yPos(aBlocker, yBlocker);
	Actor.length(aBlocker, lenBlocker);
	Actor.width(aBlocker, widBlocker);
	
	//check(slope of a1-to-BlockerTop < slope of a1-to-a2)
	check(
		( yBlocker - y1 + (if(xBlocker > x1){lenBlocker/2}else{0-lenBlocker/2})) / 
		( xBlocker - x1 + (if(yBlocker > y1){0-widBlocker/2}else{widBlocker/2}))
		< ((y1-y2)/(x1-x2)));	
}

pattern visionBlocked_ites_bottom(a1:Actor, a2:Actor, vb:VisionBlocked) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	Actor.relations(a1, vb);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, aBlocker);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	Actor.xPos(aBlocker, xBlocker);
	Actor.yPos(aBlocker, yBlocker);
	Actor.length(aBlocker, lenBlocker);
	Actor.width(aBlocker, widBlocker);
	
	//check(slope of a1-to-BlockerBottom > slope of a1-to-a2)
	check(
		( yBlocker - y1 + (if(xBlocker > x1){0-lenBlocker/2}else{lenBlocker/2})) / 
		( xBlocker - x1 + (if(yBlocker > y1){widBlocker/2}else{0-widBlocker/2}))
		> ((y1-y2)/(x1-x2)));	
}

//OPTION 2: 
//we handle ITE by seperating the constraints

//This will involve 1 constarint for each decision path, but will require multiple check expressions within the same pattern

//OPTION 3: 
//If this is nott working still, we will have to add some strctural components to the MM
//to differentiate the different cases and reduce the requirements of if, then, else

//This will involve more patterns, and some that are pstructural as well.