/*****************************************************************/
/*    NAME: Michael Benjamin                                     */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: SearchGrid_Info.cpp                                  */
/*    DATE: Dec 7th 2011                                         */
/*                                                               */
/* 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/>.                               */
/*****************************************************************/

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

using namespace std;

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

void showSynopsis()
{
  blk("SYNOPSIS:                                                       ");
  blk("------------------------------------                            ");
  blk("  The pSearchGrid application  is a module for storing a        ");
  blk("  history of vehicle positions in a 2D grid defined over a      ");
  blk("  region of operation.                                          ");
}

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

void showHelpAndExit()
{
  blk("                                                                ");
  blu("=============================================================== ");
  blu("Usage: pSearchGrid file.moos [OPTIONS]                          ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("Options:                                                        ");
  mag("  --alias","=<ProcessName>                                      ");
  blk("      Launch pSearchGrid with the given process name rather     ");
  blk("      than pSearchGrid.                                          ");
  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 pSearchGrid.               ");
  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("pSearchGrid Example MOOS Configuration                          ");
  blu("=============================================================== ");
  blk("                                                                ");
  blk("ProcessConfig = pSearchGrid                                     ");
  blk("{                                                               ");
  blk("  AppTick   = 4                                                 ");
  blk("  CommsTick = 4                                                 ");
  blk("                                                                ");
  blk("  report_deltas = true         // default                       ");
  blk("  grid_var_name = VIEW_GRID    // default                       ");
  blk("  grid_label    = psg          // default                       ");
  blk("  match_name    = abe                                           ");
  blk("  ignore_name   = ben                                           ");
  blk("                                                                ");
  blk("  grid_config = pts={-50,-40: -10,0: 180,0: 180,-150: -50,-150} ");
  blk("  grid_config = cell_size=5                                     ");
  blk("  grid_config = cell_vars=x:0:y:0:z:0                           ");
  blk("  grid_config = cell_min=x:0                                    ");
  blk("  grid_config = cell_max=x:10                                   ");
  blk("  grid_config = cell_min=y:0                                    ");
  blk("  grid_config = cell_max=y:1000                                 ");
  blk("}                                                               ");
  exit(0);
}


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

void showInterfaceAndExit()
{
  blk("                                                                ");
  blu("=============================================================== ");
  blu("pSearchGrid INTERFACE                                           ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("SUBSCRIPTIONS:                                                  ");
  blk("------------------------------------                            ");
  blk("  NODE_REPORT                                                   ");
  blk("  NODE_REPORT_LOCAL = NAME=alpha,TYPE=UUV,TIME=1252348077.59,   ");
  blk("                      X=51.71,Y=-35.50, LAT=43.824981,          ");
  blk("                      LON=-70.329755,SPD=2.0,HDG=118.8,         ");
  blk("                      YAW=118.8,DEPTH=4.6,LENGTH=3.8,           ");
  blk("                      MODE=MODE@ACTIVE:LOITERING                ");
  blk("  PSG_GRID_RESET    = true                                      ");
  blk("                                                                ");
  blk("PUBLICATIONS:                                                   ");
  blk("------------------------------------                            ");
  blk("  VIEW_GRID = pts={-50,-40:-10,0:90,0:90,-90:50,-150:-50,-90},  ");
  blk("              cell_size=5, cell_vars=x:0:y:0:z:0,cell_min=x:0,  ");
  blk("              cell_max=x:50,cell=211:x:50, cell=212:x:50,       ");
  blk("              cell=237:x:50,cell=238:x:50,label=psg             ");
  blk("                                                                ");
  exit(0);
}

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

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