/*****************************************************************/
/*    NAME: Michael Benjamin                                     */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: HazardMetric.h                                       */
/*    DATE: March 12th, 2012                                     */
/*                                                               */
/* This file is part of MOOS-IvP                                 */
/*                                                               */
/* MOOS-IvP is free software: you can redistribute it and/or     */
/* modify it under the terms of the GNU General Public License   */
/* as published by the Free Software Foundation, either version  */
/* 3 of the License, or (at your option) any later version.      */
/*                                                               */
/* MOOS-IvP is distributed in the hope that it will be useful,   */
/* but WITHOUT ANY WARRANTY; without even the implied warranty   */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See  */
/* the GNU General Public License for more details.              */
/*                                                               */
/* You should have received a copy of the GNU General Public     */
/* License along with MOOS-IvP.  If not, see                     */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/

#ifndef HAZARD_METRIC_HEADER
#define HAZARD_METRIC_HEADER

#include <string>
#include <vector>
#include <map>
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include "XYHazard.h"
#include "XYHazardSet.h"
#include "XYHazardRepEval.h"

class HazardMetric : public AppCastingMOOSApp
{
 public:
  HazardMetric();
  ~HazardMetric() {}
  
 public: // Standard MOOSApp functions to overload
  bool OnNewMail(MOOSMSG_LIST &NewMail);
  bool Iterate();
  bool OnConnectToServer();
  bool OnStartUp();

 protected: // Standard AppCastingMOOSApp function to overload
  bool buildReport();

 protected: 
  void    registerVariables();
  bool    processHazardFile(std::string filename);
  bool    addHazardReport(std::string report);
  void    evaluateReport(const XYHazardSet&);
  void    evaluateXPath();
  void    evaluateXPathBlocks();

 private: // Configuration variables for grading reports.
  double  m_penalty_false_alarm;
  double  m_penalty_missed_hazard;
  double  m_penalty_nonopt_hazard;
  double  m_max_time;
  double  m_penalty_max_time_over;
  double  m_penalty_max_time_rate;

  std::string  m_hazard_file; 
  XYHazardSet  m_hazards;
  XYPolygon    m_search_region;
  double       m_transit_path_width;
  bool         m_show_xpath;

 private: // State variables
  double       m_search_start_time;
  double       m_elapsed_time;
  unsigned int m_total_reports_received;
  double       m_worst_possible_score;

  std::string  m_mission_params;

  // Collection of Incoming reports/stats. Each key is vehicle name
  std::map<std::string, XYHazardSet>     m_map_reports;
  std::map<std::string, XYHazardRepEval> m_map_evals;
  std::map<std::string, unsigned int>    m_map_report_amt;

  // Most recent source of reported information
  std::string m_most_recent_source;

  unsigned     m_min_xpath_count;
};

#endif