/*****************************************************************/
/*    NAME: Michael Benjamin, Henrik Schmidt, and John Leonard   */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: ObstacleManager_Info.cpp                             */
/*    DATE: Aug 27th 2014                                        */
/*****************************************************************/

#include <cstdlib>
#include <iostream>
#include "ObstacleManager_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"

using namespace std;

//----------------------------------------------------------------
// Procedure: showSynopsis

void showSynopsis()
{
  blk("SYNOPSIS:                                                       ");
  blk("------------------------------------                            ");
  blk("  The pObstacleMgr manages incoming sensor dataabout        ");
  blk("  obstacles and posts alerts suitable for spawning obstacle     ");
  blk("  avoidance behaviors.                                          ");
  blk("                                                                ");
  blk("                                                                ");
}

//----------------------------------------------------------------
// Procedure: showHelpAndExit

void showHelpAndExit()
{
  blk("                                                                ");
  blu("=============================================================== ");
  blu("Usage: pObstacleMgr file.moos [OPTIONS]                     ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("Options:                                                        ");
  mag("  --alias","=<ProcessName>                                      ");
  blk("      Launch pObstacleMgr with the given process name       ");
  blk("      rather than pObstacleMgr.                             ");
  mag("  --example, -e                                                 ");
  blk("      Display example MOOS configuration block.                 ");
  mag("  --help, -h                                                    ");
  blk("      Display this help message.                                ");
  mag("  --interface, -i                                               ");
  blk("      Display MOOS publications and subscriptions.              ");
  mag("  --version,-v                                                  ");
  blk("      Display the release version of pObstacleMgr.          ");
  blk("                                                                ");
  blk("Note: If argv[2] does not otherwise match a known option,       ");
  blk("      then it will be interpreted as a run alias. This is       ");
  blk("      to support pAntler launching conventions.                 ");
  blk("                                                                ");
  exit(0);
}

//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit

void showExampleConfigAndExit()
{
  blk("                                                                ");
  blu("=============================================================== ");
  blu("pObstacleMgr Example MOOS Configuration                         ");
  blu("=============================================================== ");
  blk("                                                                ");
  blk("ProcessConfig = pObstacleMgr                                    ");
  blk("{                                                               ");
  blk("  AppTick   = 4                                                 ");
  blk("  CommsTick = 4                                                 ");
  blk("                                                                ");
  blk("  point_var = TRACKED_FEATURE    // default                     ");
  blk("                                                                ");
  blk("}                                                               ");
  blk("                                                                ");
  exit(0);
}


//----------------------------------------------------------------
// Procedure: showInterfaceAndExit

void showInterfaceAndExit()
{
  blk("                                                                ");
  blu("=============================================================== ");
  blu("pObstacleMgr INTERFACE                                          ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("SUBSCRIPTIONS:                                                  ");
  blk("------------------------------------                            ");
  blk("  TRACKED_FEATURE = x=5,y=8,label=a,size=4,color=1              ");
  blk("                                                                ");
  blk("  OBSTACLE_UPDATE_REQUEST = obstacle_key=d,                     ");
  blk("                            update_var=OBSTACLE_UPDATE_D        ");
  blk("                                                                ");
  blk("                                                                ");
  blk("PUBLICATIONS:                                                   ");
  blk("------------------------------------                            ");
  blk("  VIEW_POLYGON   = pts={32,-100:38,-98:40,-100:32,-104},        ");
  blk("                   label=d,edge_color=white,vertex_color=blue   ");
  blk("  OBSTACLE_ALERT = name=d#obstacle_key=d#                       ");
  blk("                   poly=pts={32,-100:38,-98:40,-100:32,-104},label=d");
  blk("                                                                ");
  blk("                                                                ");
  blk("                                                                ");
  exit(0);
}

//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit

void showReleaseInfoAndExit()
{
  showReleaseInfo("pObstacleMgr", "gpl");
  exit(0);
}