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/* Author: Dave Coleman
   Desc:   Common functions for experience-based planning. Used by lighting and thunder
*/

#include "ompl/tools/experience/ExperienceSetup.h"
#include "ompl/tools/multiplan/ParallelPlan.h"

ompl::tools::ExperienceSetup::ExperienceSetup(const base::SpaceInformationPtr &si)
    : ompl::geometric::SimpleSetup(si)
    , recallEnabled_(true)
    , scratchEnabled_(true)
{
  logInitialize();
};

ompl::tools::ExperienceSetup::ExperienceSetup(const base::StateSpacePtr &space)
  : ompl::geometric::SimpleSetup(space)
{
  logInitialize();
};

void ompl::tools::ExperienceSetup::logInitialize()
{
  // Header of CSV file
  csvDataLogStream_
    // Times
    << "planning_time,insertion_time,"
    // Solution properties
    << "planner,result,is_saved,"
    // Failure booleans
    << "approximate,too_short,insertion_failed,"
    // Lightning properties
    << "score,"
    // Thunder (SPARS) properties
    << "num_vertices,num_edges,num_connected_components,"
    // Hack for using python cause im lazy right now
    << "total_experiences,total_scratch,total_recall,total_failed,total_approximate,"
    << "total_too_short,total_insertion_failed,"
    << "avg_planning_time,avg_insertion_time"
    << std::endl;
}

void ompl::tools::ExperienceSetup::convertLogToString(const ExperienceLog &log)
{
  csvDataLogStream_
    << log.planning_time << ","
    << log.insertion_time << ","
    << log.planner << ","
    << log.result << ","
    << log.is_saved << ","
    << log.approximate << ","
    << log.too_short << ","
    << log.insertion_failed << ","
    << log.score << ","
    << log.num_vertices << ","
    << log.num_edges << ","
    << log.num_connected_components
    << std::endl;
}

void ompl::tools::ExperienceSetup::saveDataLog(std::ostream &out)
{
    // Export to file and clear the stream
    out << csvDataLogStream_.str();
    csvDataLogStream_.str("");
}

const std::string& ompl::tools::ExperienceSetup::getFilePath() const
{
    return filePath_;
}

bool ompl::tools::ExperienceSetup::setFilePath(const std::string &filePath)
{
    filePath_ = filePath;
    return true;
}

void ompl::tools::ExperienceSetup::enablePlanningFromRecall(bool enable)
{
    // Remember state
    recallEnabled_ = enable;

    // Flag the planners as possibly misconfigured
    configured_ = false;
}

void ompl::tools::ExperienceSetup::enablePlanningFromScratch(bool enable)
{
    // Remember state
    scratchEnabled_ = enable;

    // Flag the planners as possibly misconfigured
    configured_ = false;
}

