/*
 * @Author: 1553836110 1553836110@qq.com
 * @Date: 2023-09-28 15:45:17
 * @LastEditors: zjk 1553836110@qq.com
 * @LastEditTime: 2023-11-15 09:31:32
 * @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h
 * @Description: 
 * 
 * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
 */
/************************************************************/
/*    NAME: zjk                                              */
/*    ORGN: MIT                                             */
/*    FILE: TaskManger.h                                          */
/*    DATE:                                                 */
/************************************************************/

#ifndef TaskManger_HEADER
#define TaskManger_HEADER

#include "MOOS/libMOOS/MOOSLib.h"
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include <queue>
#include <list>
#include "json/json.h"
#include "VarDataPair.h"

using namespace std;
enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE};
enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3,  CONFIG=5};
// class TaskManger : public CMOOSApp
class TaskManger : public AppCastingMOOSApp
{
 public:
  TaskManger();
  virtual ~TaskManger();

  bool OnNewMail(MOOSMSG_LIST &NewMail);
  bool Iterate();
  bool OnConnectToServer();
  bool OnStartUp();
  void RegisterVariables();
  bool buildReport();
  void postFaultNumber(int n);

  bool setSpeed(double speed);
  bool setMaxDepth(string depth);
  bool setWpt(std::string wpt, string speed, string depth);
  bool setWayPol(string polygon, string speed, string depth);
  bool setTaskTimer(string timerCount);
  bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon);
  bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius);
  
  bool sendNode(const string current_node, list<string> &nodeList);

  bool getWord(const string str, int ct, string &word);
  string getSpeed(const string node);
  string getDepth(const string node);
  string getWayPoint(const string node);
  string getWayPolygon(const list<string> nodeList);
  string getNodeName(const string node);
  string getNode(list<string> &nodelist);
  string getTimeCount();
  string getMaxDepth();
  TaskType getTaskTpye(const string node);

  int readTaskFile(string taskName);
  int readSafetyRules(string fileName);
  int readWayConfig(string fileName);
  void postReportToSSM();
  
  inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
  inline void taskStart();
  inline void taskFinish();
  void FaultFlagClear();
  inline void InitConfig();
  //内部消息发布
  const string UPDATE_WPT = "WPT_UPDATE";
  const string UPDATE_SPD = "SPEED_UPDATE";
  const string UPDATE_DEP = "DEPTH_UPDATE";
  const string UPDATE_TIMER = "TIMER_UPDATES";
  const string UPDATE_MAXDEP = "MAXDEEP_UPDATES";
  const string UPDATE_OPREGION = "OPREGION_UPDATES";
  const string UPDATE_RESETFAULT = "OPREGION_RESET";
  //内部消息订阅
  const string MSG_WPTFLAG = "CurrentPointComplete";
  const string MSG_ENDFLAG = "END_WayPoint";
  const string MSG_START = "START";
  const string MSG_SENDSAFTRULES = "SendSaftRules";
  const string MSG_FALUT = "TaskFault";
  const string MSG_RUN = "RUN";
  const string MSG_CLEARFAULT = "ClearFalut";
  //交互消息
  const string MSG_IN_SSM = "uMission_action_cmd";
  const string MSG_TO_SSM = "uMission_task_fb";
  const string MSG_TO_FH = "uMission_fault_fb";
  const string MSG_IN_MAN = "uManual_enable_cmd";  //TODO: 增加手操状态
  const string MSG_FAULT_LEV2 = "uFH_errorMsg2_fb";
  const string MSG_FALUT_LEV3 = "uFH_errorMsg3_fb";

protected:
// 任务参数
  string node_wpt;
  string node_depth;
  string node_speed;
// 安全规则
  string maxDepth;
  string maxTime;
  string safePolygon;
  string minAltitude="0";
// 路径参数
  string lead;
  string lead_damper;
  string lead_to_start;
  string capture_line;
  string capture_radius;
  string slip_radius;
  string efficiency_measure;

  string faultMsg;

  TaskType nodeType;
  list<string> nodeList;

private:
  bool current_node_complete = false;
  bool current_pol_complete = false;
  bool start=false;
  bool time_out=false;
  int st=10;
  int faultNumber = 0;
  int readTask = 0;
  string msg;
  string current_node;
  Status state = UNRUN;

  Json::Value RepList;
  Json::StreamWriterBuilder RepJsBuilder;


//任务文件参数
//TODO:动态配置任务文件等参数
  string planConfigPath;
  vector<string> taskList;
  int taskCount;
  string taskName;
//发送节点信息
  Json::Value node_rpt;   
};

#endif