package ui.model;

import java.awt.Color;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Iterator;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;

import javax.swing.JTable;

import com.google.gson.Gson;
import com.google.gson.GsonBuilder;

import TypeAdapter.AbstractCpsObjectAdapter;
import TypeAdapter.ColorAdapter;
import TypeAdapter.PairAdapter;
import TypeAdapter.PositionAdapter;
import classes.AbstractCanvasObject;
import classes.Category;
import classes.Edge;
import classes.GroupNode;
import classes.Holon;
import classes.HolonElement;
import classes.HolonObject;
import classes.HolonSwitch;
import classes.Node;
import classes.Pair;
import classes.Position;
import interfaces.GraphListener;
import interfaces.ObjectListener;
import ui.view.DefaulTable;
import ui.view.PropertyTable;

/**
 * The Class Model is the class where everything is saved. All changes made to
 * the Data is managed via a controller.
 *
 * @author Gruppe14
 */
public class Model {

	
    private static final int GRAPH_ITERATIONS = 100;
    // Global Variables
    private static int sCALE = 50; // Picture Scale
    private static int sCALEdIV2 = sCALE / 2;
    public String[] colNames = {"Field", "Information"};
    // Canvas Attributes
    private String imgPath = "";
    private int backgroundMode = 0;
    private int backgroundWidth = 0;
    private int backgroundHeight = 0;
    private int canvasX = 3000;
    private int canvasY = 3000;
    private int curIteration = 0;
    private HolonElement selectedHolonElement;
    private Edge selectedEdge;
    private ArrayList<AbstractCanvasObject> selectedObjects = new ArrayList<>();
    private ArrayList<AbstractCanvasObject> clipboardObjects = new ArrayList<>();
    private HashMap<Integer, ArrayList<HolonElement>> eleToDelete;
    // Capacity for Edge
    private float maxCapacity;
    // Table for HolonElements --> all cells are editable
    private JTable tableHolonElement;
    /** Table for the properties of HolonObjects, Edges etc */
    private JTable propertyTable;
    
    private ArrayList<GraphListener> graphListeners = new ArrayList<GraphListener>();
    // Iteration Speed
    private int timerSpeed = 1000;
    private int selectedID = 0;
    // number of the current autosave
    private int autoSaveNr = -1;
    // number of max simultaneous autosaves
    private int numberOfSaves = 35;
    /** whether the supplyBars should be shown or not */
    private boolean showSupplyBars = true;
    //TODO:
    private int iterations=100;
    
    /**
	 * All implemented FairnessModels:<br>
	 * {@link FairnessModel#MininumDemandFirst}<br>
	 * {@link FairnessModel#AllEqual}
	 */
	public enum FairnessModel{
		/**
		 * One Element of each HolonObject will be powered first, starting with the
		 * smallest Demand. If ale HolonObjects have an active Element, the
		 * simulation will try to fully supply as many HolonObjects as possible.
		 */
		MininumDemandFirst, 
		/**
		 * All HolonObjects will receive the same amount of energy.
		 */
		AllEqual
	}
    /** the Fairness model in use */
    private FairnessModel fairnessModel = FairnessModel.MininumDemandFirst;
    
    /*
     * Array of all categories in the model. It is set by default with the
     * categories ENERGY, BUILDINGS and COMPONENTS
     */
    private ArrayList<Category> categories;

    /*
     * Array of all CpsObjects in our canvas. It is set by default as an empty
     * list.
     */
    private ArrayList<AbstractCanvasObject> objectsOnCanvas;
    private HashMap<String, Integer> cgIdx;
    private HashMap<Integer, Integer> cvsObjIdx;
    /*
     * Array of all CpsObjects in our canvas. It is set by default as an empty
     * list.
     */
    private ArrayList<Edge> edgesOnCanvas;
    
    
    private ArrayList<HolonObject> holonObjectsOnCanvas = new ArrayList<HolonObject>();
    private ArrayList<Node> nodesOnCanvas= new ArrayList<Node>();
    private ArrayList<HolonSwitch> switchsOnCanvas= new ArrayList<HolonSwitch>();
    
    private List<ObjectListener> objectListeners;
    private PropertyTable tableModelHolonElementMulti;
    private PropertyTable tableModelHolonElementSingle;
    private DefaulTable tableModelProperties;
    private HashMap<Integer, GroupNode> hashcodeMap = new HashMap<>();
    private Holon stateHolon = new Holon("All Holons", this);
    
    private Map<String, Holon> holonsByID = new HashMap();

    private Gson gson;

    /**
     * Constructor for the model. It initializes the categories and
     * objectsOnCanvas by default values. Listeners are also initialized by
     * default values.
     */
    public Model() {
        setCategories(new ArrayList<>());
        setObjectsOnCanvas(new ArrayList<>());
        setEdgesOnCanvas(new ArrayList<>());
        setObjectListeners(new LinkedList<>());
        setCgIdx(new HashMap<>());
        setCvsObjIdx(new HashMap<>());
        setClipboradObjects(new ArrayList<>());
        setEleToDelete(new HashMap<>());
        setSingleTable(new PropertyTable());
        setMultiTable(new PropertyTable());
        setPropertyTable(new DefaulTable(1000, colNames.length));
        getPropertyTable().setColumnIdentifiers(colNames);
        setTableHolonElement(new JTable());
        initGson();
		this.holonsByID.put(stateHolon.getUniqueID(), stateHolon);
    }

    /**
     * Returns all Categories.
     *
     * @return the categories
     */
    public ArrayList<Category> getCategories() {
        return categories;
    }

    /**
     * Sets all Categories.
     *
     * @param categories the categories to set
     */
    public void setCategories(ArrayList<Category> categories) {
        this.categories = categories;
    }

    /**
     * Transform the Arraylist of categories into a string of all objectName
     * with a separation (',') between each name.
     *
     * @return String of all names separeted by ','
     */
    public String toStringCat() {
        String text = "";
        for (int i = 0; i < categories.size(); i++) {
            if (text.equals("")) {
                text = categories.get(i).getName();
            } else {
                text = text + ", " + categories.get(i).getName();
            }
        }
        return text;
    }

    /**
     * Returns all Objects on the Canvas.
     *
     * @return the objectsOnCanvas
     */
    public ArrayList<AbstractCanvasObject> getObjectsOnCanvas() {
        return objectsOnCanvas;
    }

    /**
     * Sets all Objects on the Canvas.
     *
     * @param objectsOnCanvas the objectsOnCanvas to set
     */
    public void setObjectsOnCanvas(ArrayList<AbstractCanvasObject> objectsOnCanvas) {
        this.objectsOnCanvas = objectsOnCanvas;
    }

    /**
     * Get all Edges on the Canvas.
     *
     * @return the edgesOnCanvas
     */
    public ArrayList<Edge> getEdgesOnCanvas() {
        return edgesOnCanvas;
    }

    /**
     * Sets the edges on the Canvas.
     *
     * @param arrayList the edgesOnCanvas to set
     */
    public void setEdgesOnCanvas(ArrayList<Edge> arrayList) {
        this.edgesOnCanvas = arrayList;
    }

    /**
     * Adds an Edge to The Canvas.
     *
     * @param edge the edgesOnCanvas to add
     */
    public void addEdgeOnCanvas(Edge edge) {
        this.edgesOnCanvas.add(edge);
    }

    /**
     * Remove an edge from the Canvas.
     *
     * @param edge the edge to remove
     */
    public void removeEdgesOnCanvas(Edge edge) {
        this.edgesOnCanvas.remove(edge);
    }

    /**
     * Returns the ObjectListener.
     *
     * @return the objectListeners
     */
    public List<ObjectListener> getObjectListeners() {
        return objectListeners;
    }

    /**
     * Sets the ObjectListener.
     *
     * @param linkedList the objectListeners to set
     */
    public void setObjectListeners(LinkedList<ObjectListener> linkedList) {
        this.objectListeners = linkedList;
    }

    /**
     * Returns the ID of the selected Object 0 = no Object is selected.
     *
     * @return ID
     */
    public int getSelectedObjectID() {
        return selectedID;
    }

    /**
     * Set the ID of the selected Object 0 = no Object is selected.
     *
     * @param id the ID
     */
    public void setSelectedObjectID(int id) {
        this.selectedID = id;
    }


    /**
     * Returns all selected Objects on the Canvas.
     *
     * @return The selected Objects
     */
    public ArrayList<AbstractCanvasObject> getSelectedCpsObjects() {
        return selectedObjects;
    }

    /**
     * Returns all selected Objects on the Canvas.
     *
     * @return The selected Objects
     */
    public void setSelectedCpsObjects(ArrayList<AbstractCanvasObject> arr) {
        this.selectedObjects = arr;
    }

    /**
     * Returns the Selected Holon Element.
     *
     * @return selected Holon Element
     */
    public HolonElement getSelectedHolonElement() {
        return selectedHolonElement;
    }

    /**
     * Sets the Selecte HolonElement.
     *
     * @param selectedHolonElement that is Selected
     */
    public void setSelectedHolonElement(HolonElement selectedHolonElement) {
        this.selectedHolonElement = selectedHolonElement;
    }

    /**
     * Returns the sCale (Scale for the Images).
     *
     * @return sCALE
     */
    public int getScale() {
        return sCALE;
    }
    
    
    public Holon getStateHolon() {
    	return stateHolon;
    }

    /**
     * Sets the Image Scale.
     *
     * @param scale for the image
     */
    public void setScale(int scale) {
        sCALE = scale;
        if ((sCALE & 1) == 0)
            sCALEdIV2 = sCALE / 2;
        else
            sCALEdIV2 = (sCALE + 1) / 2;
    }

    /**
     * Returns sCALEdIV2 (The Scale divided by 2).
     *
     * @return sCALEdIV2
     */
    public int getScaleDiv2() {
        return sCALEdIV2;
    }

    /**
     * Returns the maximum ITERATIONS.
     *
     * @return ITERATIONS
     */
    public int getIterations() {
        return iterations;
    }

    private void notifyGraphListeners() {
        for (GraphListener gl : graphListeners) {
            gl.repaintTree();
        }

    }

    /**
     * Returns cURiTERATION.
     *
     * @return cURiTERATION
     */
    public int getCurIteration() {
        return curIteration;
    }

    /**
     * sets the current Iteration.
     *
     * @param curIT the current Iteration
     */
    public void setCurIteration(int curIT) {
        this.curIteration = curIT;
        notifyGraphListeners();
    }

    /**
     * Returns the selected Edge.
     *
     * @return selectedEdge
     */
    public Edge getSelectedEdge() {
        return selectedEdge;
    }

    /**
     * Set the selected Edge.
     *
     * @param edge that is selected
     */
    public void setSelectedEdge(Edge edge) {
        this.selectedEdge = edge;
    }

    /**
     * Returns the Categorie Index.
     *
     * @return the cgIdx
     */
    public HashMap<String, Integer> getCgIdx() {
        return cgIdx;
    }

    /**
     * Sets the Categorie Index.
     *
     * @param cgIdx the cgIdx to set
     */
    public void setCgIdx(HashMap<String, Integer> cgIdx) {
        this.cgIdx = cgIdx;
    }

    /**
     * Returns the CanvasObject Index.
     *
     * @return the cvsObjIdx
     */
    public HashMap<Integer, Integer> getCvsObjIdx() {
        return cvsObjIdx;
    }

    /**
     * Sets the CanvasObject Index.
     *
     * @param cvsObjIdx the cvsObjIdx to set
     */
    public void setCvsObjIdx(HashMap<Integer, Integer> cvsObjIdx) {
        this.cvsObjIdx = cvsObjIdx;
    }

    /**
     * Returns the auto save Number.
     *
     * @return the auto save Number
     */
    public int getAutoSaveNr() {
        return autoSaveNr;
    }

    /**
     * Sets the auto save Number.
     *
     * @param autoSaveNr the auto save number
     */
    public void setAutoSaveNr(int autoSaveNr) {
        this.autoSaveNr = autoSaveNr;
    }

    /**
     * Returns the Number of Saves.
     *
     * @return the numberOfSaves
     */
    public int getNumberOfSaves() {
        return numberOfSaves;
    }

    /**
     * Set the Number of Saves.
     *
     * @param numberOfSaves the numberOfSaves to set
     */
    public void setNumberOfSaves(int numberOfSaves) {
        this.numberOfSaves = numberOfSaves;
    }

    /**
     * Returns all Objects in the Clipboard.
     *
     * @return Objects in the Clipboard
     */
    public ArrayList<AbstractCanvasObject> getClipboradObjects() {
        return clipboardObjects;
    }

    /**
     * Sets the ClipboardObjects.
     *
     * @param c Array of Objects
     */
    public void setClipboradObjects(ArrayList<AbstractCanvasObject> c) {
        this.clipboardObjects = c;
    }


    /**
     * @return the maxCapacity
     */
    public float getMaxCapacity() {
        return maxCapacity;
    }

    /**
     * @param maxCapacity the maxCapacity to set
     */
    public void setMaxCapacity(float maxCapacity) {
        this.maxCapacity = maxCapacity;
    }

    /**
     * get the Interval in ms between each Iteration.
     *
     * @return timerSpeed speed for the Iterations
     */
    public int getTimerSpeed() {
        return this.timerSpeed;
    }

    /**
     * Sets the Interval in ms between each Iteration.
     *
     * @param t speed for the Iterations
     */
    public void setTimerSpeed(int t) {
        this.timerSpeed = t;
    }

    /**
     * Get Canvas X Size.
     *
     * @return the cANVAS_X
     */
    public int getCanvasX() {
        return canvasX;
    }

    /**
     * Set Canvas X Size.
     *
     * @param canvasX the cANVAS_X to set
     */
    public void setCanvasX(int canvasX) {
        this.canvasX = canvasX;
    }

    /**
     * get Canvas Y size.
     *
     * @return the cANVAS_Y
     */
    public int getCanvasY() {
        return canvasY;
    }

    /**
     * Set Canvas Y size.
     *
     * @param canvasY the cANVAS_Y to set
     */
    public void setCanvasY(int canvasY) {
        this.canvasY = canvasY;
    }

    public HashMap<Integer, ArrayList<HolonElement>> getEleToDelete() {
        return this.eleToDelete;
    }

    public void setEleToDelete(HashMap<Integer, ArrayList<HolonElement>> theHash) {
        this.eleToDelete = theHash;
    }

    public PropertyTable getSingleTable() {
        return this.tableModelHolonElementSingle;
    }

    public void setSingleTable(PropertyTable pt) {
        this.tableModelHolonElementSingle = pt;
    }

    public PropertyTable getMultiTable() {
        return this.tableModelHolonElementMulti;
    }

    public void setMultiTable(PropertyTable pt) {
        this.tableModelHolonElementMulti = pt;
    }


    public DefaulTable getPropertyTable() {
        return this.tableModelProperties;
    }

    public void setPropertyTable(DefaulTable pt) {
        this.tableModelProperties = pt;
    }

    public JTable getTableHolonElement() {
        return tableHolonElement;
    }

    public void setTableHolonElement(JTable tableHolonElement) {
        this.tableHolonElement = tableHolonElement;
    }
    
	/**
	 * @return the tableProperties
	 */
	public JTable getTableProperties() {
		return propertyTable;
	}
	
	/**
	 * @return the tableProperties
	 */
	public void setTableProperties(JTable propertyTable) {
		this.propertyTable = propertyTable;
	}

    public List<HolonElement> getAllHolonElemnts() {
    	return getAllHolonObjectsOnCanvas().stream().flatMap(hO -> hO.getElements().stream()).collect(Collectors.toList());
    }
    
    
    public ArrayList<HolonObject> getAllHolonObjectsOnCanvas(){
		ArrayList<HolonObject> objectToReturn = new ArrayList<HolonObject>();
		getAllHolonObjectsRecursive(objectToReturn, getObjectsOnCanvas());
    	return objectToReturn;
    }
    
    private void getAllHolonObjectsRecursive(ArrayList<HolonObject> addObjectsToThisList, List<AbstractCanvasObject> listOfObjectsToSearch){
    	for(AbstractCanvasObject aCps : listOfObjectsToSearch) {
    		if(aCps instanceof HolonObject) {
    			addObjectsToThisList.add((HolonObject) aCps);
    		}else if(aCps instanceof GroupNode){
    			getAllHolonObjectsRecursive(addObjectsToThisList, ((GroupNode)aCps).getNodes());
    		}
    	}
    }
    
    
    /**
     * get all Switches
     */
    public ArrayList<HolonSwitch> getAllSwitches() {
        ArrayList<HolonSwitch> switches = new ArrayList<>();
        for (AbstractCanvasObject obj : getObjectsOnCanvas()) {
            if (obj instanceof HolonSwitch) {
                switches.add((HolonSwitch) obj);
            } else if (obj instanceof GroupNode) {
                getSwitchesRec(((GroupNode) obj).getNodes(), switches);
            }
        }
        return switches;
    }

    /**
     * get the Amount of Switches help function
     *
     * @param objects  objects
     * @param switches List of switches
     */
    private ArrayList<HolonSwitch> getSwitchesRec(ArrayList<AbstractCanvasObject> objects,
                                                  ArrayList<HolonSwitch> switches) {
        for (AbstractCanvasObject obj : objects) {
            if (obj instanceof HolonSwitch) {
                switches.add((HolonSwitch) obj);
            } else if (obj instanceof GroupNode) {
                getSwitchesRec(((GroupNode) obj).getNodes(), switches);
            }
        }
        return switches;
    }

    /**
     * Returns the Path for the background Image of the Canvas.
     *
     * @return imgPath the Path
     */
    public String getCanvasImagePath() {
        return imgPath;
    }

    /**
     * Set the Path for the background Image of the Canvas.
     *
     * @param path the Path
     */
    public void setCanvasImagePath(String path) {
        imgPath = path;
    }

    /**
     * Returns the mode for the background Image of the Canvas.
     * <p>
     * 0 take size of the Image 1 stretch the Image 2 Custom Image size
     *
     * @return backgroundMode the mode
     */
    public int getCanvasImageMode() {
        return backgroundMode;
    }

    /**
     * Set the mode for the background Image of the Canvas.
     * <p>
     * 0 take size of the Image, 1 stretch the Image, 2 Custom Image size
     *
     * @param mode the backgroundMode
     */
    public void setCanvasImageMode(int mode) {
        backgroundMode = mode;
    }

    /**
     * Returns the Custom width of the background Image of the Canvas.
     *
     * @return backgroundWidth the Width
     */
    public int getCanvasImageWidth() {
        return backgroundWidth;
    }

    /**
     * Set the Custom width of the background Image of the Canvas.
     *
     * @param width the Width
     */
    public void setCanvasImageWidth(int width) {
        backgroundWidth = width;
    }

    /**
     * Returns the Custom height of the background Image of the Canvas.
     *
     * @return backgroundHeight the height
     */
    public int getCanvasImageHeight() {
        return backgroundHeight;
    }

    /**
     * Set the Custom height of the background Image of the Canvas.
     *
     * @param height the height
     */
    public void setCanvasImageHeight(int height) {
        backgroundHeight = height;
    }

    /**
	 * @return true if SupplyBars should be shown
	 */
	public boolean getShowSupplyBars() {
		return showSupplyBars;
	}

	/**
	 * @param showSupplyBars true if the SupplyBars should be shown
	 */
	public void setShowSupplyBars(boolean showSupplyBars) {
		this.showSupplyBars = showSupplyBars;
	}
	
	/**
	 * @param iterations the number of steps for this simulation
	 */
	public void setIterations(int iterations){
		this.iterations=iterations;
	}
	
	/**
	 * @return the fairnessModel
	 */
	public FairnessModel getFairnessModel() {
		return fairnessModel;
	}
	
	/**
	 * @param fairnessModel the fairnessModel to set
	 */
	public void setFairnessModel(FairnessModel fairnessModel) {
		this.fairnessModel = fairnessModel;
	}
	
	public int getGraphIterations(){
		return GRAPH_ITERATIONS;
	}

	/**
     * Initialize the Gson with wanted parameters
     */
    private void initGson() {
        GsonBuilder builder = new GsonBuilder();
        builder.serializeNulls();
        builder.excludeFieldsWithoutExposeAnnotation();
        builder.setPrettyPrinting();
        builder.registerTypeAdapter(AbstractCanvasObject.class, new AbstractCpsObjectAdapter());
        builder.registerTypeAdapter(Position.class, new PositionAdapter());
        builder.registerTypeAdapter(Color.class, new ColorAdapter());
        builder.registerTypeAdapter(Pair.class, new PairAdapter());
        // use the builder and make a instance of the Gson
        this.setGson(builder.create());

    }

    /**
     * @return the gson
     */
    public Gson getGson() {
        return gson;
    }

    /**
     * @param gson the gson to set
     */
    public void setGson(Gson gson) {
        this.gson = gson;
    }

    /**
     * @return the hashcodeMap
     */
    public HashMap<Integer, GroupNode> getHashcodeMap() {
        return hashcodeMap;
    }

    /**
     * @param hashcodeMap the hashcodeMap to set
     */
    public void setHashcodeMap(HashMap<Integer, GroupNode> hashcodeMap) {
        this.hashcodeMap = hashcodeMap;
    }

    
    
    
    
    
	public ArrayList<HolonSwitch> getSwitchsOnCanvas() {
		return switchsOnCanvas;
	}

	public void setSwitchsOnCanvas(ArrayList<HolonSwitch> switchsOnCanvas) {
		this.switchsOnCanvas = switchsOnCanvas;
	}

	public ArrayList<Node> getNodesOnCanvas() {
		return nodesOnCanvas;
	}

	public void setNodesOnCanvas(ArrayList<Node> nodesOnCanvas) {
		this.nodesOnCanvas = nodesOnCanvas;
	}

	public ArrayList<HolonObject> getHolonObjectsOnCanvas() {
		return holonObjectsOnCanvas;
	}

	public void setHolonObjectsOnCanvas(ArrayList<HolonObject> holonObjectsOnCanvas) {
		this.holonObjectsOnCanvas = holonObjectsOnCanvas;
	}
	
	public void defineLists() {
		switchsOnCanvas.clear();
		nodesOnCanvas.clear();
		holonObjectsOnCanvas.clear();
		for(AbstractCanvasObject aCps : this.objectsOnCanvas) {
			if(aCps instanceof HolonObject)holonObjectsOnCanvas.add((HolonObject) aCps);
			else if(aCps instanceof Node)nodesOnCanvas.add((Node) aCps);
			else if(aCps instanceof HolonSwitch)switchsOnCanvas.add((HolonSwitch) aCps);
		}
	}

	public Map<String, Holon> getHolonsByID() {
		return holonsByID;
	}
	
	/**
	 * get all edges that connect objects inside the holarchy
	 * requires that all objects are connected
	 * energy always takes the shortest path between two objects -> all shortest paths are included
	 * all traversed objects are whether a switch or holon that is part of the holarchy
	 * group nodes not supported
	 * @param from
	 * @param to
	 * @return
	 */
	public ArrayList<Edge> getAllEdgesInHolarchy(ArrayList<HolonObject> holarchy){
		if(holarchy.size() < 2) {
			return new ArrayList<Edge>();
		}
		//construct subgraph that contains all objects of the holarchy and all switches from the canvas
		ArrayList<AbstractCanvasObject> vertices = new ArrayList<AbstractCanvasObject>();
		for(AbstractCanvasObject aco : this.objectsOnCanvas) {
			if(aco instanceof HolonSwitch || aco instanceof Node
					|| (aco instanceof HolonObject && holarchy.contains(aco)) ) {
				vertices.add(aco);
			}
		}
		ArrayList<Edge> edges = new ArrayList<Edge>();
		for(Edge e : this.edgesOnCanvas) {
			AbstractCanvasObject a = e.getA();
			AbstractCanvasObject b = e.getB();
			if(vertices.contains(a) && vertices.contains(b)) {
				edges.add(e);
			}
		}
		
		//find shortest paths between the objects
		ArrayList<Edge> es = new ArrayList<Edge>();
		if(holarchy.size() < 2) {
			return es;
		}
		
		for(int i=0; i<holarchy.size(); i++) {
			HolonObject a = holarchy.get(i);
			for(int j=i+1; j<holarchy.size(); j++) {
				es.addAll(dijkstra(a, holarchy.get(j), holarchy, vertices, edges));
			}
		}
		
		return es;
	}
	
	public HashMap<Float, ArrayList<Edge>> getShortestPathToHolarchy(MinimumModel minModel, MinimumModel minModel2, ArrayList<HolonObject> holarchy){
		ArrayList<AbstractCanvasObject> objects = new ArrayList<AbstractCanvasObject>();
		objects.addAll(minModel.getHolonObjectList());
		objects.addAll(minModel.getNodeList());
		objects.addAll(minModel.getSwitchList());
		
		ArrayList<AbstractCanvasObject> objects2 = new ArrayList<AbstractCanvasObject>();
		objects2.addAll(minModel2.getHolonObjectList());
		objects2.addAll(minModel2.getNodeList());
		objects2.addAll(minModel2.getSwitchList());
		
		HashMap<Float, ArrayList<Edge>> map = new HashMap<Float, ArrayList<Edge>>();
		for(AbstractCanvasObject aco : objects) {
			for(AbstractCanvasObject aco2 : objects2) {
				ArrayList<Edge> edges = dijkstra(aco, aco2, holarchy, this.objectsOnCanvas, this.edgesOnCanvas);
				float dist = 0;
				for(Edge e : edges) {
					dist += e.getLength();
				}
				map.put(dist, edges);
			}
		}
		
		return map;
	}
	
	public ArrayList<Edge> dijkstra(AbstractCanvasObject a, AbstractCanvasObject b, ArrayList<HolonObject> holarchy, ArrayList<AbstractCanvasObject> vertices, ArrayList<Edge> edges) {
		ArrayList<Edge> es = new ArrayList<Edge>();
		
		HashSet<AbstractCanvasObject> visited = new HashSet<AbstractCanvasObject>();
		ArrayList<AbstractCanvasObject> unvisited = new ArrayList<AbstractCanvasObject>();
		HashMap<AbstractCanvasObject, Float> dist = new HashMap<AbstractCanvasObject, Float>();
		for(AbstractCanvasObject aco : vertices) {
			unvisited.add(aco);
			dist.put(aco, Float.MAX_VALUE);
		}
		dist.put(a, 0f);
		HashMap<AbstractCanvasObject, AbstractCanvasObject> pre = new HashMap<AbstractCanvasObject, AbstractCanvasObject>();

		AbstractCanvasObject current = a;
		visited.add(a);
		unvisited.remove(a);
		while(!unvisited.isEmpty()) {
			if(b.equals(current))
				break;
			float currDist = dist.get(current);
			for(AbstractCanvasObject aco : current.getConnectedObjects()) {
				if(visited.contains(aco) || (aco instanceof HolonObject && !holarchy.contains(aco))) {
					continue;
				}
				float newDist = currDist + getEdgeBetweenObjects(current, aco, this.edgesOnCanvas).getLength();
				if(newDist < dist.get(aco)) {
					dist.put(aco, newDist);
					pre.put(aco, current);
				}
			}
			AbstractCanvasObject next = getMinInMap(dist, unvisited);
			visited.add(current);
			unvisited.remove(current);
			current = next;
		}
		
		//trace back path
		current = b;
		while(!current.equals(a)) {
			AbstractCanvasObject next = pre.get(current);
			es.add(getEdgeBetweenObjects(current, next, edges));
			current = next;
		}
		
		return es;
	}
	
	public AbstractCanvasObject getMinInMap(HashMap<AbstractCanvasObject, Float> map, ArrayList<AbstractCanvasObject> unvisited) {
		AbstractCanvasObject min = null;
		float m = Float.MAX_VALUE;
		
		for(AbstractCanvasObject aco : map.keySet()) {
			if(unvisited.contains(aco) && map.get(aco) < m) {
//				System.out.println("new min "+min);
				m = map.get(aco);
				min = aco;
			}
		}
		
		return min;
	}
	
	public Edge getEdgeBetweenObjects(AbstractCanvasObject a, AbstractCanvasObject b, ArrayList<Edge> edges) {
		for(Edge e : edges) {
			AbstractCanvasObject a2 = e.getA();
			AbstractCanvasObject b2 = e.getB();
			if( (a.equals(a2) && b.equals(b2)) || (a.equals(b2) && b.equals(a2)) ) {
				return e;
			}
		}
		return null;
	}
	
	public boolean checkHolonObjectsAreConnected(Holon a, Holon b) {
		if(a.equals(b)) {
			return false;
		}
		HashSet<AbstractCanvasObject> visited = new HashSet<AbstractCanvasObject>();
		ArrayList<AbstractCanvasObject> objects = new ArrayList<AbstractCanvasObject>();
		objects.addAll(a.getAllHolonObjects());
		objects.addAll(b.getAllHolonObjects());
		
		ArrayList<AbstractCanvasObject> toVisit = new ArrayList<AbstractCanvasObject>();
		toVisit.add(a.getHolonObject());
		while(!toVisit.isEmpty()) {
			AbstractCanvasObject aco = toVisit.remove(0);
			for(AbstractCanvasObject aco2 : aco.getConnectedObjects()) {
				if(visited.contains(aco2) || (aco2 instanceof HolonSwitch && !((HolonSwitch)aco2).isClosed()) ) {
					continue;
				}
				if(aco2 instanceof HolonObject && aco2.equals(b.getHolonObject())) {
					return true;
				}
				if( aco2 instanceof HolonSwitch || aco2 instanceof Node || (aco2 instanceof HolonObject && objects.contains(aco2)) ) {
					toVisit.add(aco2);
				}
			}
			visited.add(aco);
		}
		
		return false;
	}
	
}