/************************************************************/
/*    NAME: wade                                              */
/*    ORGN: MIT                                             */
/*    FILE: FaultHandle.h                                          */
/*    DATE:                                                 */
/************************************************************/

#ifndef FaultHandle_HEADER
#define FaultHandle_HEADER

#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include "MOOS/libMOOS/MOOSLib.h"
//#include "moos.h"
#include <json/json.h>
#include <string>
#include <vector>
#include <map>
#include <cstdlib>
#include <iostream>  
#include <fstream>  
#include <sstream>  

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

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

    void RegisterVariables();
   
  protected: 
    void handleMailNewDBClients();
    void handleMailStatusUpdate(std::string);

    bool handleConfigWatchList(std::string);
    bool handleConfigWatchItem(std::string);

    bool handleConfigExcludeList(std::string);
    bool handleConfigExcludeItem(std::string);

  protected:
    bool addToWatchList(std::string);

    void checkForIndividualUpdates();
    void postFullSummary();

    bool isAlive(std::string);
    void procNotedHere(std::string);
    void procNotedGone(std::string);
    void procNotedExcused(std::string);

    void handlePostMapping(std::string);
    std::string postVar(std::string);

    void populateAntlerList();

    bool processIncluded(const std::string& procname);
    bool processExcluded(const std::string& procname);

  protected:
    std::string convertSecondsToString(double);

    void errorMsgInit();

    void MoosAppStatusMonitor();
    void MoosAppOverloadMonitor();
    void MissionFaultMonitor();
    void MotionControlMonitor();
    void DeviceLeakageMonitor();
    void BatteryStatusMonitor();
    void EmergencyBatteryMonitor();
    void ThrustStatusMonitor();
    void CPUTempMonitor();
    void FaultReset();


    bool MoosAppMissing();
    bool MoosAppOverload();


  protected: // State Variables
    bool         m_proc_watch_summary_changed;
    double       m_last_posting_time;

    // Clients and Summary stored across iterations
    std::string  m_db_clients;
    std::string  m_proc_watch_summary;

    std::vector<std::string>  m_watch_list;
    std::vector<std::string>  m_excused_list;

    // Mapping from proc name to data
    std::map<std::string, bool> m_map_alive;
    std::map<std::string, bool> m_map_alive_prev;
    std::map<std::string, unsigned int> m_map_noted_gone;
    std::map<std::string, unsigned int> m_map_noted_here;
    std::map<std::string, double>       m_map_now_cpuload;
    std::map<std::string, double>       m_map_max_cpuload;

    std::set<std::string> m_set_db_clients;
    std::set<std::string> m_set_watch_clients;
    std::set<std::string> m_set_antler_clients;

  protected: // Configurations Variables
    bool         m_watch_all_db;
    bool         m_watch_all_antler;
    double       m_allow_retractions;
    double       m_min_wait;             
    double       m_noted_gone_wait;

    // Include List
    std::vector<std::string>  m_include_list;
    std::vector<bool>         m_include_list_prefix;

    // Exclude List
    std::vector<std::string>  m_exclude_list;
    std::vector<bool>         m_exclude_list_prefix;

    // A dedicated MOOS var for posting when a proc chgs status
    std::map<std::string, std::string> m_map_proc_post;

    // A map for changing the MOOS variable posted.
    std::map<std::string, std::string> m_map_chgpost;

  protected:
    int             m_Mission_fault_fb;
    int             m_Motion_fault_fb;
    double          m_CPU_temperature;
    bool            m_resetMsg_fb;

    uint32_t        m_faultBattery;
    uint32_t        m_faultEmergencyBattery;
    uint32_t        m_faultLeakSensor;
    uint32_t        m_faultThrust;
    uint32_t        m_batteryLevel;

    Json::Value     Device_monitor;
    Json::Value     MoosApp_cpuLoad;
    Json::Value     MoosAppStatus;
    Json::Value     uFH_ErrorMsg_fb;

    Json::Value     uFH_errorMsg1_fb;
    Json::Value     uFH_errorMsg2_fb;
    Json::Value     uFH_errorMsg3_fb;


    Json::Value     msg3_faultID_array;
    Json::Value     msg2_PSfaultID_array;
    Json::Value     msg2_emergencyPS_array;
    Json::Value     msg2_thrust_Status_array;

    Json::Value     msg1_faultID_array;

//--------------------------------------test------------------------------
    //std::string     ODO_StatusStr;

    std::string     BSC_StatusStr;
    std::string     DM_StatusStr;
    std::string     MC_StatusStr;
    std::string     SSC_StatusStr;
    std::string     TM_StatusStr;


    std::string     pOdometryCPUload;
    std::string     BSC_CPUloadStr;
    std::string     DM_CPUloadStr;
    std::string     MC_CPUloadStr;
    std::string     SSC_CPUloadStr;
    std::string     TM_CPUloadStr;


    //double ABC;
    double BSC_cpuload;
    double DM_cpuload;
    double MC_cpuload;
    double SSC_cpuload;
    double TM_cpuload;





//--------------------------------------test------------------------------
  protected:
    //Contingency variable
    
    //  bool uSensor_leakage_fb;
    //  bool uMission_deepOut_fb;
    //  bool uMission_timeOut_fb;
    //  bool uDrive_batteryLow_fb;
    //  double uSoftWare_appMiss_fb;  //AppID

    //------------------------------------------------
    //subscribe variables

  
  private: // Configuration variables

  private: // State variables
};

#endif