/************************************************************/
/*    NAME: Xiaobin Zeng                                              */
/*    ORGN: MIT                                             */
/*    FILE: DataManagement.h                                          */
/*    DATE:                                                 */
/************************************************************/

#ifndef DataManagement_HEADER
#define DataManagement_HEADER

#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include "MOOS/libMOOS/MOOSLib.h"


struct MotionControlInfo
{
  double desiredHeading;
  double desiredSpeed;
  double desiredDepth;
};

class DataManagement : public AppCastingMOOSApp
//class DataManagement : public CMOOSApp
{
public:
  DataManagement();
  ~DataManagement();

protected: // Standard MOOSApp functions to overload  
  bool OnNewMail(MOOSMSG_LIST &NewMail);
  bool Iterate();
  bool OnConnectToServer();
  bool OnStartUp();
  bool DoAsyncLog(MOOSMSG_LIST & NewMail);

protected:
  enum MissionStatus{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3,  CONFIG=5};
  void RegisterVariables();
  bool buildReport();
  bool OpenFile(std::ofstream & of,const std::string & sName);
  void DoAuvDataLogBanner(std::ofstream &os);
  void DoMissionHistoryBanner(std::ofstream &os);
  void DoFaultHandleBanner(std::ofstream &os);
  void DoMotionControlBanner(std::ofstream &os);

  void GenerateFileName(std::string &fileDir, std::string &fileName);
  bool OpenOutputStream();
  void CloseOutputStream();
  double getTimeStamp();
  int nDoublePrecision;
  std::ofstream auvDataStream;
  std::ofstream missionHistoryStream;
  std::ofstream clientCommandStream;
  std::ofstream faultLogStream;
  std::ofstream motionControlStream;  
  std::map<std::string, int> logVarList;
  std::string contentFromStream;
  struct MotionControlInfo motionControlInfo;
  bool logEnable;
  std::string saveLogDir;
};

#endif