/************************************************************/
/*    NAME: chenlizhi                                       */
/*    ORGN: MIT                                             */
/*    FILE: StateManagement.cpp                             */
/*    DATE:                                                 */
/************************************************************/

#include <iterator>
#include "MBUtils.h"
#include "StateManagement.h"
#include <json/json.h>
#include <cmath>

using namespace std;

//---------------------------------------------------------
// Constructor

StateManagement::StateManagement()
{
}

//---------------------------------------------------------
// Destructor

StateManagement::~StateManagement()
{
}

//---------------------------------------------------------
// Procedure: OnNewMail

bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
{
  MOOSMSG_LIST::iterator p;
   
  for(p=NewMail.begin(); p!=NewMail.end(); p++) {
    CMOOSMsg &msg = *p;

    string key   = msg.GetKey();
    string comm  = msg.GetCommunity();
    double dval  = msg.GetDouble();
    string sval  = msg.GetString(); 
    string msrc  = msg.GetSource();
    double mtime = msg.GetTime();
    bool   mdbl  = msg.IsDouble();
    bool   mstr  = msg.IsString();
    Json::Value deviceState;
    std::string manualState;
    int missionState;

    if(key == "uManual_enable_cmd")
    {
      manualState = msg.GetString();
    }  
    if(key == "uMission_task_fb")
    {
      std::string missionStateString = msg.GetString();
      std::string errMission;
      Json::Value missionStateData;
      std::istringstream issm(missionStateString);  
      Json::CharReaderBuilder builderMission;
      bool parsingResultMission = Json::parseFromStream(builderMission, issm, &missionStateData, &errMission);  
      if (!parsingResultMission) {  
          std::cerr << "Failed to parse JSON string." << std::endl;  
          return -1;  
      }  
      missionState = missionStateData["state"].asInt();
    }

    if(manualState == "true")
    {
      deviceState["opMode"] = opModeLists.external;
    }
    else if (manualState == "false")
    {
      if(missionState == 0)
      {
        deviceState["opMode"] = opModeLists.error;
      }
      if(missionState == 1)
      {
        deviceState["opMode"] = opModeLists.service;
      }
      if(missionState == 3)
      {
        deviceState["opMode"] = opModeLists.maneuver;
      }
    }

    Json::StreamWriterBuilder builder;
    std::string deviceStateString = Json::writeString(builder, deviceState);
    Notify("uDevice_state_fb", deviceStateString);
   }

   return(true);
}

//---------------------------------------------------------
// Procedure: OnConnectToServer

bool StateManagement::OnConnectToServer()
{
   RegisterVariables();
   return(true);
}

//---------------------------------------------------------
// Procedure: Iterate()
//            happens AppTick times per second

bool StateManagement::Iterate()
{
  return(true);
}

//---------------------------------------------------------
// Procedure: OnStartUp()
//            happens before connection is open

bool StateManagement::OnStartUp()
{
  list<string> sParams;
  m_MissionReader.EnableVerbatimQuoting(false);
  if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
    list<string>::iterator p;
    for(p=sParams.begin(); p!=sParams.end(); p++) {
      string line  = *p;
      string param = tolower(biteStringX(line, '='));
      string value = line;
      
      if(param == "foo") {
        //handled
      }
      else if(param == "bar") {
        //handled
      }
    }
  }
  
  RegisterVariables();	
  return(true);
}

//---------------------------------------------------------
// Procedure: RegisterVariables

void StateManagement::RegisterVariables()
{
  // Register("FOOBAR", 0);
}