/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : MissionTimer.cc                                               */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#include "MissionTimer.h"
#include "IntegerAttribute.h"
#include "MissionTimeAttribute.h"
#include "Syslog.h"

MissionTimer::MissionTimer()
  : Behavior(MissionTimerBehaviorName, NonSequential)
{

  attributes.add(new IntegerAttribute("timeOut", 
				      "End mission after this interval",
				      &_timeOut));

  Attribute::Input *input;

  // A bit of a kludge; force time window to be from 0 to unlimited
  input = new Attribute::Input("startTime", "0");
  attributes.parse(input);
  delete input;

  input = new Attribute::Input("endTime", NoTimeLimitMnem);
  attributes.parse(input);
  delete input;

  _startTime = -1.0;

}


MissionTimer::~MissionTimer()
{
}

Boolean MissionTimer::shouldBehaviorStart( void )
{
     return True;
}


void MissionTimer::execute()
{
     if( _startTime < 0.0 ) {
	  _startTime = _missionClock->seconds();
	  Syslog::write("Setting _startTime = %lf\n", _startTime );
     }

     //Syslog::write("\n Mission clock: %f\tTimeout: %ld\tStartTime: %f\n",
     //_missionClock->seconds(), _timeOut, _startTime);
  if (_missionClock->seconds() > (_timeOut + _startTime) )
  {
    // Timer has expired
    Syslog::write("\n Mission clock expired, aborting mission");
    abortMission();
  }
}


Boolean MissionTimer::validInput()
{
  Boolean valid = True;

  if (_timeOut <= 0.) {
    printError("Invalid timeOut; must be positive value");
    valid = False;
  }

  return valid;
}