//===- examples/agent-functionalities/Reliability-functionality.cpp *C++-*-===//
//
//                                 The RoSA Framework
//
// Distributed under the terms and conditions of the Boost Software License 1.0.
// See accompanying file LICENSE.
//
// If you did not receive a copy of the license file, see
// http://www.boost.org/LICENSE_1_0.txt.
//
//===----------------------------------------------------------------------===//
///
/// \file examples/agent-functionalities/Reliability-functionality.cpp
///
/// \author Daniel Schnoell (daniel.schnoell@tuwien.ac.at )
///
/// \date 2019
///
/// \brief A simple example on defining Relianility Functionalities.
///
//===----------------------------------------------------------------------===//

#define Reliability_trace_level 5

#include "rosa/config/version.h"

#include "rosa/support/log.h"

#include "rosa/agent/CrossCombinator.h"
#include "rosa/agent/RangeConfidence.hpp"
#include "rosa/agent/ReliabilityConfidenceCombination.h"

#include <map>
#include <vector>

using namespace rosa::agent;

int main(void) {
  typedef double SensorValueType;
  typedef long StateType;
  typedef double ReliabilityType;

  std::shared_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
      Confidence(new RangeConfidence<ReliabilityType, StateType,
                                     SensorValueType>(
          {{0, PartialFunction<double, double>(
                   {
                       {{0, 3},
                        std::make_shared<LinearFunction<double, double>>(
                            0, 1.0 / 3)},
                       {{3, 6},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{6, 9},
                        std::make_shared<LinearFunction<double, double>>(
                            3.0, -1.0 / 3)},
                   },
                   0)},
           {1, PartialFunction<double, double>(
                   {
                       {{6, 9},
                        std::make_shared<LinearFunction<double, double>>(
                            -2, 1.0 / 3)},
                       {{9, 12},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{12, 15},
                        std::make_shared<LinearFunction<double, double>>(
                            5, -1.0 / 3)},
                   },
                   0)},
           {2, PartialFunction<double, double>(
                   {
                       {{12, 15},
                        std::make_shared<LinearFunction<double, double>>(
                            -4, 1.0 / 3)},
                       {{15, 18},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{18, 21},
                        std::make_shared<LinearFunction<double, double>>(
                            7, -1.0 / 3)},
                   },
                   0)}}));

  std::shared_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability(
      new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));

  std::shared_ptr<Abstraction<SensorValueType, ReliabilityType>>
      ReliabilitySlope(
          new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));

  std::shared_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence(
      new LinearFunction<std::size_t, ReliabilityType>(1, -1.0 / 3));

  auto lowlevel =
      new ReliabilityAndConfidenceCombination<SensorValueType, StateType,
                                              ReliabilityType>();

  std::vector<long> states;
  states.push_back(0);
  states.push_back(1);
  states.push_back(2);
   
  lowlevel->setConfidenceFunction(Confidence);
  lowlevel->setAbsoluteReliabilityFunction(Reliability);
  lowlevel->setReliabilitySlopeFunction(ReliabilitySlope);
  lowlevel->setTimeFunctionForLikelinessFunction(TimeConfidence);
  lowlevel->setIdentifiers(states);
  lowlevel->setHistoryLength(2);
  lowlevel->setTimeStep(1);

  /* ----------------------------- Do Something
   * ---------------------------------------------------------------- */
  std::cout << "Testing the lowlevel component with static feedback telling it "
               "that the most lickely state is 2.\n";
  for (int a = 0; a < 30; a++)
    std::cout << "a: " << a << "\n"
              << (lowlevel->feedback({{0, 0}, {1, 0.3}, {2, 0.8}}),
                  lowlevel->bestSymbol(a))
              << "\n";


  std::cout << "---------------------------------------------------------------"
               "---------------------------------\n";
  std::cout << "------------------------------------High level "
               "Test---------------------------------------------\n";

  std::cout
      << "Configured in a way that the Master thinks that both Sensors "
         "should have the same State.\n While feeding both the \"opposite\" "
         "values one acending the other decending from the maximum.\n";

  std::shared_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
      Confidence2(new RangeConfidence<ReliabilityType, StateType,
                                      SensorValueType>(
          {{0, PartialFunction<double, double>(
                   {
                       {{0, 3},
                        std::make_shared<LinearFunction<double, double>>(
                            0, 1.0 / 3)},
                       {{3, 6},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{6, 9},
                        std::make_shared<LinearFunction<double, double>>(
                            3.0, -1.0 / 3)},
                   },
                   0)},
           {1, PartialFunction<double, double>(
                   {
                       {{6, 9},
                        std::make_shared<LinearFunction<double, double>>(
                            -2, 1.0 / 3)},
                       {{9, 12},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{12, 15},
                        std::make_shared<LinearFunction<double, double>>(
                            5, -1.0 / 3)},
                   },
                   0)},
           {2, PartialFunction<double, double>(
                   {
                       {{12, 15},
                        std::make_shared<LinearFunction<double, double>>(
                            -4, 1.0 / 3)},
                       {{15, 18},
                        std::make_shared<LinearFunction<double, double>>(1, 0)},
                       {{18, 21},
                        std::make_shared<LinearFunction<double, double>>(
                            7, -1.0 / 3)},
                   },
                   0)}}));

  std::shared_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability2(
      new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 9));

  std::shared_ptr<Abstraction<SensorValueType, ReliabilityType>>
      ReliabilitySlope2(
          new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 9));

  std::shared_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence2(
      new LinearFunction<std::size_t, ReliabilityType>(1, -1.0 / 9));

  auto lowlevel2 =
      new ReliabilityAndConfidenceCombination<SensorValueType, StateType,
                                              ReliabilityType>();

  std::vector<long> states2;
  states2.push_back(0);
  states2.push_back(1);
  states2.push_back(2);

  lowlevel2->setConfidenceFunction(Confidence2);
  lowlevel2->setAbsoluteReliabilityFunction(Reliability2);
  lowlevel2->setReliabilitySlopeFunction(ReliabilitySlope2);
  lowlevel2->setTimeFunctionForLikelinessFunction(TimeConfidence2);
  lowlevel2->setIdentifiers(states2);
  lowlevel2->setHistoryLength(2);
  lowlevel2->setTimeStep(1);

  CrossCombinator<StateType, ReliabilityType> *highlevel =
      new CrossCombinator<StateType, ReliabilityType>();

  std::shared_ptr<Abstraction<long, double>> func1(new PartialFunction<long, double>(
      {
          {{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
          {{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
      },
      0));

  highlevel->addCrossLikelinessProfile(0, 1, func1);
  highlevel->setCrossLikelinessCombinatorMethod(
      CrossCombinator<StateType, ReliabilityType>::predefinedMethods::AVERAGE);
  highlevel->setCrossLikelinessParameter(1);

  highlevel->addIdentifiers(0, states);
  highlevel->addIdentifiers(1, states);

  for (int a = 0; a < 21; a++) {
    auto out1 = lowlevel->bestSymbol(a),
         out2 = lowlevel2->bestSymbol((int)21 - a);
    std::cout << "s1: " << out1 << "\ns2:" << out2 << "\n";
    std::vector<std::tuple<rosa::id_t, StateType, ReliabilityType>> tmp2;
    tmp2.push_back({0, out1.Identifier, out1.Likeliness});
    tmp2.push_back({1, out2.Identifier, out2.Likeliness});

    auto out_o = highlevel->operator()(tmp2);
    std::cout << "it: " << a << "\t rel: " << out_o.CrossLikeliness << "\n";
    std::cout << "\t subs:\n";
    for (auto q : out_o.Likeliness) {
      std::cout << "\t\t id:" << q.first << "\n";
      /*
      for(auto z: q.second)
      {
        std::cout << "\t\t\t Identifier: " << z.Identifier << "\tRel: " << z.Likeliness
      << "\n"; tmp.push_back({z.Identifier,z.Likeliness});
      }
      */
      for (auto z : q.second) {
        std::cout << "\t\t\t Identifier: " << z.Identifier << "\tRel: " << z.Likeliness
                  << "\n";
      }

      if (q.first == 0)
        lowlevel->feedback(q.second);
      else
        lowlevel2->feedback(q.second);
    }
  }
  /* ----------------------------- Cleanup
   * --------------------------------------------------------------------- */

  delete highlevel;
  delete lowlevel;
  delete lowlevel2;
}