P42_godDaemons/GPS/gpsServer.js

import { AccesRights } from '../accesRights.js'
import { AgentStore } from './agentStore.js'
import { CollisionRegistry } from './collisionRegistry.js'
import { ArenaAgentLoader } from './arenaAgentLoader.js'
import { SimState, validateAgentSets } from './simulationState.js'
import {
    compareWorldlinePair,
    positionAt,
    needsPrismRefresh,
    advanceAgentSegment,
} from './handlers/arena/worldline.js'

export class gpsServer {

    constructor(configHelper, allRediscnx, debug) {
        this.configHelper = configHelper
        this.rootConfig = configHelper.config
        this.gpsConfig = configHelper.config.gps ?? {}
        this.allRediscnx = allRediscnx
        this.debug = debug
        this.accessRights = new AccesRights(this.rootConfig, debug)
        this.agents = new Map()
        this.registry = new CollisionRegistry()
        this.arenaCnx = null
        this.arenaCnxs = []
        this.systemCnx = null
        this.agentStore = null
        this.arenaLoader = null
        this.state = SimState.IDLE
        this.simulationId = null
        this.bigBangEpoch = null
        this.resumeEpoch = null
        this.pausedAt = null
        this.ignoredChangeCount = 0
    }

    isLive() {
        return(this.state === SimState.LIVE)
    }

    isPaused() {
        return(this.state === SimState.PAUSED)
    }

    canQuerySim() {
        return(this.isLive() || this.isPaused())
    }

    isPrepare() {
        return(this.state === SimState.PREPARE)
    }

    simNow() {
        if(this.bigBangEpoch === null) return(null)
        if(this.resumeEpoch !== null) {
            return(this.pausedAt + (performance.now() - this.resumeEpoch) / 1000)
        }
        return((performance.now() - this.bigBangEpoch) / 1000)
    }

    now() {
        if(this.isLive()) return(this.simNow())
        if(this.isPaused()) return(this.pausedAt)
        if(this.isPrepare()) return(0)
        return(null)
    }

    wireSystemConnexion(cnx) {
        cnx.gpsSrv = this
        cnx.accessRights = this.accessRights
        cnx.reloadAccessRights = () => this.reloadAccessRights()
        cnx.getAccessRights = () => this.getAccessRights()
        if(!this.systemCnx || cnx.redisConfig.role === 'primary') {
            this.systemCnx = cnx
            this.initAgentStore()
        }
    }

    initAgentStore() {
        const gpsStorage = this.gpsConfig.GPSstorage
        if(gpsStorage && this.systemCnx) {
            this.agentStore = new AgentStore(this.systemCnx, gpsStorage, this.debug)
        }
    }

    wireArenaConnexion(cnx) {
        cnx.gpsSrv = this
        this.arenaCnxs.push(cnx)
        if(!this.arenaCnx || cnx.redisConfig.role === 'primary') {
            this.arenaCnx = cnx
            const arenaStorage = this.gpsConfig.arenaStorage
            if(arenaStorage) {
                this.arenaLoader = new ArenaAgentLoader(cnx, arenaStorage, this.debug)
            }
        }
    }

    getAgent(agentId) {
        return(this.agents.get(agentId) ?? null)
    }

    getAllAgents() {
        return([...this.agents.values()])
    }

    buildAgentSnapshot(agent, at) {
        return({
            id: agent.id,
            position: positionAt(agent, at),
            vector: { ...agent.vector },
            since: agent.since,
            generation: agent.generation ?? 0,
            t: at,
        })
    }

    getAgentPosition(agentId, at = null) {
        if(!this.canQuerySim()) return(null)
        const agent = this.agents.get(agentId)
        if(!agent) return(null)
        const t = at ?? this.now()
        if(t === null) return(null)
        return(this.buildAgentSnapshot(agent, t))
    }

    isPositionInPrism(position, prism) {
        return(
            position.x >= prism.xMin && position.x <= prism.xMax &&
            position.y >= prism.yMin && position.y <= prism.yMax &&
            position.z >= prism.zMin && position.z <= prism.zMax
        )
    }

    isValidPrism(prism) {
        if(!prism || typeof(prism) !== 'object') return(false)
        const axes = ['xMin', 'xMax', 'yMin', 'yMax', 'zMin', 'zMax']
        for(const key of axes) {
            if(typeof(prism[key]) !== 'number' || Number.isNaN(prism[key])) return(false)
        }
        return(
            prism.xMin <= prism.xMax &&
            prism.yMin <= prism.yMax &&
            prism.zMin <= prism.zMax
        )
    }

    getAgentsInPrism(prism, at = null) {
        if(!this.canQuerySim()) return([])
        const t = at ?? this.now()
        if(t === null) return([])
        const agents = []
        for(const agent of this.agents.values()) {
            const position = positionAt(agent, t)
            if(this.isPositionInPrism(position, prism)) {
                agents.push(this.buildAgentSnapshot(agent, t))
            }
        }
        return(agents)
    }

    async resetSimulation() {
        this.agents.clear()
        this.registry = new CollisionRegistry()
        this.simulationId = null
        this.bigBangEpoch = null
        this.resumeEpoch = null
        this.pausedAt = null
        this.ignoredChangeCount = 0
        this.state = SimState.IDLE
        await this.agentStore?.clearAll()
    }

    runInitialPairScan() {
        const { nearMissDistance, prismTimeHeight } = this.gpsConfig
        const ids = [...this.agents.keys()]
        for(let i = 0; i < ids.length; i++) {
            for(let j = i + 1; j < ids.length; j++) {
                const hit = compareWorldlinePair(
                    this.agents.get(ids[i]),
                    this.agents.get(ids[j]),
                    prismTimeHeight,
                    nearMissDistance,
                    0
                )
                if(hit) this.registry.add(hit)
            }
        }
        if(this.debug) console.log(`[GPS] Initial pair scan: ${this.registry.entries.length} proximity entries at T=0`)
    }

    async publishReadyToStart(result) {
        if(!this.arenaCnx) return
        await this.arenaCnx.redisPublish(this.gpsConfig.lifecycle.godsReadyChannel, {
            eventType: 'readyToStart',
            sender: this.gpsConfig.senderId,
            payload: {
                success: result.success,
                simulationId: this.simulationId,
                agentIds: [...this.agents.keys()],
                err: result.err ?? null,
            },
        })
    }

    async onYourMarks(payload = {}) {
        await this.resetSimulation()
        this.simulationId = payload.simulationId ?? null
        if(!this.simulationId) {
            console.error('[GPS] onYourMarks rejected: missing simulationId')
            await this.publishReadyToStart({ success: false, err: 'Missing simulationId' })
            return
        }
        if(!this.arenaLoader) {
            console.error('[GPS] onYourMarks rejected: no arena loader')
            await this.publishReadyToStart({ success: false, err: 'No arena Redis connection' })
            return
        }

        const loadResult = await this.arenaLoader.loadAgents(payload.agentIds ?? null)
        if(!loadResult.ok) {
            console.error(`[GPS] onYourMarks load failed: ${loadResult.err}`)
            await this.publishReadyToStart({ success: false, err: loadResult.err })
            return
        }

        for(const agent of loadResult.agents) {
            this.agents.set(agent.id, agent)
        }

        if(Array.isArray(payload.agentIds) && payload.agentIds.length) {
            const mismatch = validateAgentSets(payload.agentIds, [...this.agents.keys()])
            if(mismatch) {
                console.error(`[GPS] onYourMarks agent mismatch: ${mismatch}`)
                await this.resetSimulation()
                await this.publishReadyToStart({ success: false, err: mismatch })
                return
            }
        }

        this.runInitialPairScan()
        this.state = SimState.PREPARE
        if(this.debug) console.log(`[GPS] PREPARE: ${this.agents.size} agent(s), simulationId=${this.simulationId}`)
        await this.publishReadyToStart({ success: true })
    }

    async onBigBang(payload = {}) {
        if(this.state !== SimState.PREPARE) {
            console.error(`[GPS] bigBang rejected: expected PREPARE, got ${this.state}`)
            return
        }
        if(!payload.simulationId || payload.simulationId !== this.simulationId) {
            console.error('[GPS] bigBang rejected: simulationId mismatch')
            return
        }
        if(Array.isArray(payload.agentIds) && payload.agentIds.length) {
            const mismatch = validateAgentSets(payload.agentIds, [...this.agents.keys()])
            if(mismatch) {
                console.error(`[GPS] bigBang agent mismatch: ${mismatch}`)
                return
            }
        }

        this.bigBangEpoch = performance.now()
        this.resumeEpoch = null
        this.pausedAt = null
        this.state = SimState.LIVE

        for(const agent of this.agents.values()) {
            await this.agentStore?.exportSegment(agent, 'start', 0, this.simulationId)
        }

        if(this.debug) console.log(`[GPS] LIVE: bigBangEpoch set, simulationId=${this.simulationId}`)
    }

    onSimulationPaused(payload = {}) {
        if(this.state === SimState.IDLE || this.state === SimState.PAUSED) return
        if(payload.simulationId && this.simulationId && payload.simulationId !== this.simulationId) {
            console.error('[GPS] simulationPaused rejected: simulationId mismatch')
            return
        }

        const t = (typeof(payload.t) === 'number' && !Number.isNaN(payload.t))
            ? payload.t
            : this.now()
        this.pausedAt = t
        this.state = SimState.PAUSED
        if(this.debug) console.log(`[GPS] PAUSED at t=${t}, simulationId=${this.simulationId}`)
    }

    async onSimulationStopped(payload = {}) {
        if(this.state === SimState.IDLE) return
        if(payload.simulationId && this.simulationId && payload.simulationId !== this.simulationId) {
            console.error('[GPS] simulationStopped rejected: simulationId mismatch')
            return
        }
        if(this.debug) console.log(`[GPS] STOPPED (reset), simulationId=${this.simulationId}`)
        await this.resetSimulation()
    }

    onSimulationResumed(payload = {}) {
        if(this.state !== SimState.PAUSED) {
            console.error(`[GPS] simulationResumed rejected: expected PAUSED, got ${this.state}`)
            return
        }
        if(payload.simulationId && this.simulationId && payload.simulationId !== this.simulationId) {
            console.error('[GPS] simulationResumed rejected: simulationId mismatch')
            return
        }

        this.resumeEpoch = performance.now()
        this.state = SimState.LIVE
        if(this.debug) console.log(`[GPS] RESUMED at t=${this.pausedAt}, simulationId=${this.simulationId}`)
    }

    upsertAgent(agentId, newVector, newPosition = null) {
        const now = this.now()
        let agent = this.agents.get(agentId)
        if(!agent) {
            agent = {
                id: agentId,
                position: newPosition ?? { x: 0, y: 0, z: 0 },
                vector: { ...newVector },
                since: now,
                generation: 1,
            }
            this.agents.set(agentId, agent)
            this.agentStore?.exportSegment(agent, 'change', now, this.simulationId)
            return(agent)
        }

        agent.position = positionAt(agent, now)
        agent.vector = { ...newVector }
        agent.since = now
        agent.generation = (agent.generation ?? 0) + 1
        if(newPosition) agent.position = { ...newPosition }
        this.agentStore?.exportSegment(agent, 'change', now, this.simulationId)
        return(agent)
    }

    ensurePrismValid(agentId, refreshed = new Set()) {
        return(this.refreshAgentPrism(agentId, refreshed))
    }

    refreshAgentPrism(agentId, refreshed = new Set()) {
        if(refreshed.has(agentId)) return(false)
        const agent = this.agents.get(agentId)
        if(!agent) return(false)

        const { prismTimeHeight, prismRefreshLeadSeconds } = this.gpsConfig
        const now = this.now()
        if(!needsPrismRefresh(agent, now, prismTimeHeight, prismRefreshLeadSeconds)) return(false)

        refreshed.add(agentId)
        this.registry.purge(agentId)
        advanceAgentSegment(agent, now)

        const hits = this.scanAgentPairs(agentId, refreshed)
        for(const hit of hits) this.registry.add(hit)
        this.agentStore?.exportSegment(agent, 'refresh', now, this.simulationId)
        if(this.debug) console.log(`[GPS] Prism refresh: ${agentId}`)
        return(true)
    }

    scanAgentPairs(changedAgentId, refreshed = new Set()) {
        this.ensurePrismValid(changedAgentId, refreshed)
        const changed = this.agents.get(changedAgentId)
        if(!changed) return([])

        const { nearMissDistance, prismTimeHeight } = this.gpsConfig
        const now = this.now()
        const hits = []
        for(const [otherId, other] of this.agents) {
            if(otherId === changedAgentId) continue
            this.ensurePrismValid(otherId, refreshed)
            const hit = compareWorldlinePair(
                changed,
                other,
                prismTimeHeight,
                nearMissDistance,
                now
            )
            if(hit) hits.push(hit)
        }
        return(hits)
    }

    registerHits(hits) {
        for(const hit of hits) this.registry.add(hit)
    }

    onVectorChange(agentId, newVector, newPosition = null) {
        if(!this.isLive()) {
            if(this.isPrepare()) this.ignoredChangeCount++
            return([])
        }
        this.registry.purge(agentId)
        this.upsertAgent(agentId, newVector, newPosition)
        const hits = this.scanAgentPairs(agentId)
        this.registerHits(hits)
        if(this.debug && hits.length) console.log(`[GPS] ${hits.length} proximity pair(s) for ${agentId}`)
        return(hits)
    }

    onAgentRemove(agentId) {
        if(!this.isLive()) return
        this.agents.delete(agentId)
        this.registry.purge(agentId)
        this.agentStore?.exportRemove(agentId, this.now())
        if(this.debug) console.log(`[GPS] Agent removed: ${agentId}`)
    }

    tickPrismRefresh() {
        for(const agentId of this.agents.keys()) {
            this.refreshAgentPrism(agentId)
        }
    }

    buildProximityBatches(due) {
        const byAgent = new Map()
        for(const entry of due) {
            for(const agentId of [entry.agentA, entry.agentB]) {
                const otherAgent = entry.agentA === agentId ? entry.agentB : entry.agentA
                if(!byAgent.has(agentId)) byAgent.set(agentId, [])
                byAgent.get(agentId).push({
                    otherAgent,
                    distance: entry.distance,
                    t: entry.time,
                    minDistance: entry.minDistance,
                    minT: entry.minTime,
                })
            }
        }
        return(byAgent)
    }

    async publishProximityBatch(targetAgentId, pairs) {
        if(!this.arenaCnx || !pairs.length) return
        const chan = this.gpsConfig.collisionsChannel.replace(/\[UID\]/g, targetAgentId)
        await this.arenaCnx.redisPublish(chan, {
            eventType: 'proximity',
            payload: {
                pairs,
                simulationId: this.simulationId,
            },
            sender: this.gpsConfig.senderId,
        })
    }

    async tickCollisions() {
        const now = this.now()
        if(now === null) return
        const due = this.registry.dueBefore(now)
        if(!due.length) return

        const batches = this.buildProximityBatches(due)
        for(const entry of due) this.registry.remove(entry)
        for(const [agentId, pairs] of batches) {
            await this.publishProximityBatch(agentId, pairs)
        }
    }

    tickArena() {
        if(!this.isLive()) return
        this.tickPrismRefresh()
        this.tickCollisions()
    }

    async reloadAccessRights() {
        await this.configHelper.refreshAccessRights()
        this.rootConfig.accessRights = this.configHelper.config.accessRights
        this.accessRights.refreshAccessRights(this.rootConfig)
    }

    getAccessRights() {
        return(this.rootConfig.accessRights)
    }

}