//===- examples/agent-functionalities/Reliability-functionality.cpp *C++-*-===//
//
//                                 The RoSA Framework
//
//===----------------------------------------------------------------------===//
///
/// \file examples/agent-functionalities/Reliability-functionality.cpp
///
/// \author Daniel Schnoell (daniel.schnoell@tuwien.ac.at )
///
/// \date 2019
///
/// \brief A simple example on defining \c rosa::Agent instances using
/// Relianility Functionalities.
///
//===----------------------------------------------------------------------===//



#include "rosa/config/version.h"

#include "rosa/core/Agent.hpp"
#include "rosa/core/MessagingSystem.hpp"

#include "rosa/support/log.h"
#include "rosa/support/terminal_colors.h"

#include "rosa/agent/Reliability.h"
#include "rosa/agent/RangeConfidence.hpp"

#include <vector>
#include <map>

using namespace rosa::agent;

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

	// defining Range confidence



	auto 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)}
        });


	Abstraction<SensorValueType, ReliabilityType>* Reliability = new LinearFunction<SensorValueType, ReliabilityType>(1,-1.0/9);


	auto ReliabilitySlope = new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0/9);


	auto TimeConfidence = new LinearFunction<std::size_t, ReliabilityType>(1, -1.0/9);

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

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


	lowlevel->setConfidenceFunction(Confidence);
	lowlevel->setReliabilityFunction(Reliability);
	lowlevel->setReliabilitySlopeFunction(ReliabilitySlope);
	lowlevel->setTimeConfidenceFunction(TimeConfidence);
  lowlevel->setStates(states);
  lowlevel->setHistoryLength(1);

  /* ----------------------------- Do Something ---------------------------------------------------------------- */ 

  for ( int a= 0 ; a <10 ; a++)
    std::cout <<"a: " << a << "\n" << (lowlevel->feedback({{0,0},{1,0.3},{2,0.5}}),lowlevel->operator()(a)) << "\n";

  /* ----------------------------- Cleanup --------------------------------------------------------------------- */

  delete lowlevel;

}