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//
//   MOOS - Mission Oriented Operating Suite
//
//   A suit of Applications and Libraries for Mobile Robotics Research
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and
//   Oxford University.
//
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford
//   University 2003-2005. email: pnewman@robots.ox.ac.uk.
//
//   This file is part of a  MOOS Core Component.
//
//   This program is free software; you can redistribute it and/or
//   modify it under the terms of the GNU General Public License as
//   published by the Free Software Foundation; either version 2 of the
//   License, or (at your option) any later version.
//
//   This program is distributed in the hope that it will be useful,
//   but WITHOUT ANY WARRANTY; without even the implied warranty of
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
//   General Public License for more details.
//
//   You should have received a copy of the GNU General Public License
//   along with this program; if not, write to the Free Software
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
//   02111-1307, USA.
//
// MOOSApp.h: interface for the CMOOSApp class.
//

#ifndef MOOSAPPH
#define MOOSAPPH

#include <MOOSGenLib/MOOSGenLib.h>
#include "MOOSCommClient.h"


#define DEFAULT_MOOS_APP_COMMS_FREQ 5
#define DEFAULT_MOOS_APP_FREQ 5
#define MOOS_MAX_APP_FREQ 50
#define MOOS_MAX_COMMS_FREQ 200
#define STATUS_PERIOD 2

#include "MOOSVariable.h"
#include <set>
#include <map>

typedef std::map<std::string,CMOOSVariable> MOOSVARMAP;

class CMOOSApp
{
public:

    CMOOSApp();
    virtual ~CMOOSApp();


protected:


    //                       THE MOST IMPORTANT AND USEFUL MEMBERS
public:
    bool Run( const char * sName,const char * sMissionFile,const char * sSubscribeName);
    bool Run( const char * sName,const char * sMissionFile);

    virtual bool OnConnectToServer();

    virtual bool OnDisconnectFromServer();
        
        bool RequestQuit();
    

protected:
    virtual bool Iterate();

    virtual bool OnNewMail(MOOSMSG_LIST & NewMail);

    virtual bool OnCommandMsg(CMOOSMsg Msg);

    virtual std::string MakeStatusString();

    CMOOSCommClient m_Comms;

    bool SetCommsFreq(unsigned int nFreq);

    void SetAppFreq(double dfFreq);

    double GetAppStartTime();

    CProcessConfigReader m_MissionReader;

    bool DoRunWork();
    
    void SetAppError(bool bFlag, const std::string & sReason);
        
        

    //                       UTITLITY  METHODS


    void SetServer(const char * sServerHost="LOCALHOST",long lPort=9000);


    bool UseMOOSComms(bool bUse);

    void SortMailByTime(bool bSort=true){m_bSortMailByTime = bSort;};
    
    void SetQuitOnFailedIterate(bool bQuit){m_bQuitOnIterateFail = bQuit;};

    bool MOOSDebugWrite(const std::string & sTxt);

    void EnableCommandMessageFiltering(bool bEnable);
    
    void EnableIterateWithoutComms(bool bEnable);

    bool LookForAndHandleAppCommand(MOOSMSG_LIST & NewMail);


    std::string GetAppName();

    std::string GetMissionFileName();


    //  DYNAMIC VARIABLES  - AN OPTIONAL GARNISH

    bool AddMOOSVariable(std::string sName,std::string sSubscribeName,std::string sPublishName,double dfCommsTime);
    
    bool SetMOOSVar(const CMOOSVariable& MOOSVar);
    

    CMOOSVariable * GetMOOSVar(std::string sName);

    bool RegisterMOOSVariables();


    bool UpdateMOOSVariables(MOOSMSG_LIST & NewMail);

    bool SetMOOSVar(const std::string & sName,const std::string & sVal,double dfTime);

    bool SetMOOSVar(const std::string & sVarName,double dfVal,double dfTime);


    bool PublishFreshMOOSVariables();


    MOOSVARMAP m_MOOSVars;


    bool IsSimulateMode();

    bool m_bSimMode;


    virtual bool OnStartUp();

    virtual bool ConfigureComms();

    long m_lServerPort;

    std::string m_sServerHost;

    std::string m_sServerPort;

    bool m_bServerSet;

    bool m_bUseMOOSComms;

    std::string m_sAppName;

    std::string m_sMOOSName;
    
    int m_nCommsFreq;

    double m_dfFreq;

    std::string m_sMissionFile;

    bool m_bCommandMessageFiltering;
    
        bool m_bQuitOnIterateFail;
    double m_dfAppStartTime;

    double m_dfLastRunTime;

    
    bool m_bSortMailByTime;
    
    std::string m_sAppError;
    
    bool m_bAppError;
    
    
    double GetTimeSinceIterate();

    double GetLastIterateTime();

    int GetIterateCount();

    bool CanIterateWithoutComms();
    
    
    
    
    std::string GetCommandKey();


    bool m_bDebug;

    bool   IsDebug(){return m_bDebug;};


public:
    void OnDisconnectToServerPrivate();
    void OnConnectToServerPrivate();
    bool OnMailCallBack();
    
    /* by calling this function Iterate and OnNewMail will be
     called from the thread that is servicing the MOOS Comms client. It
     is provided to let really very specialised MOOSApps have very speedy
     response times. It is not recommended for general use*/
    bool UseMailCallBack();

private:
    /* this function is used to process mail on behalf of the client just before
       the derived OnNewMail is invoked - it has no interest to the casual user*/
    void OnNewMailPrivate(MOOSMSG_LIST & NewMail);
    /* and this is a private iterate - we may need to regularly do things behind the scenes */
    void IteratePrivate();

    bool m_bIterateWithoutComms;


private:

    int m_nIterateCount;

    int m_nMailCount;

    double m_dfLastStatusTime;

    bool CheckSetUp();
        
        bool m_bQuitRequested;
    
    
};

#endif