%This module will handle the exploration of additional monitoring
% information that is necessary for error identification.

:-ensure_loaded('RTXutil.pl').

:-dynamic x_before/1.
:-dynamic y_before/1.
:-dynamic z_before/1.

:-dynamic x_is_near/1.
:-dynamic z_is_near/1.
:-dynamic y_is_near/1.
:-dynamic up/2.
:-dynamic down/2.



%define your new facts for monitoring operations here
%pick aditional information as described in [SupInt-5-2019.pdf]
monitoring:-
    x_is_at(X),
    \+ x_before(X),
    %retracts previous facts x_before(_) and assert to the newest x_before(X)
    assert_once(x_before(X)).


%asserting betweeness for xx axis
monitoring:-
    \+ x_is_at(_), % xx is not on a sensor position
    x_before(X),
    x_moving(1), %% moving to the right
    Xbetween is X +0.5,
    assert_once(x_is_near(Xbetween)).

monitoring:-
    \+ x_is_at(_), % xx is not on a sensor position
    x_before(X),
    x_moving(-1), %% moving to the left
    Xbetween is X -0.5,
    assert_once(x_is_near(Xbetween)).


%asserting betweeness for zz axis
monitoring:-
    \+ z_is_at(_), % zz is not on a sensor position
    z_before(Z),
    z_moving(1), %% moving up
    Zbetween is Z +0.5,
    assert_once(z_is_near(Zbetween)).
monitoring:-
    \+ z_is_at(_), % zz is not on a sensor position
    z_before(Z),
    z_moving(-1), %% moving down
    Zbetween is Z -0.5,
    assert_once(z_is_near(Zbetween)).

monitoring:-
    z_is_at(Z),
    \+z_before(Z),
    assert_once(z_was_at(Z)).
% monitor each situation HERE, with more monitoring rules, like the previous

%asserting betweeness for yy axis
monitoring:-
    \+ y_is_at(_), % yy is not on a sensor position
    y_before(Y),
    y_moving(1), %% moving inside
    Ybetween is Y +0.5,
    assert_once(y_is_near(Ybetween)).
monitoring:-
    \+ y_is_at(_), % yy is not on a sensor position
    y_before(Y),
    y_moving(-1), %% moving outside
    Ybetween is Y -0.5,
    assert_once(y_is_near(Ybetween)).

monitoring:-
    y_is_at(Y),
    \+ y_before(Y),

    %retracts previous facts y_before(_) and assert to the newest y_before(Y)
    assert_once(y_before(Y)).

monitoring:-  %time up events
    %List of states that we need to UP events
    List = [x_is_at(_), y_is_at(_), z_is_at(_) /*other states*/],
    findall(__IGNORE,
          (
                member(State, List),
                (      State,
                    \+up(State, _),
                    currTimeMili(T),
                    assert( up(State, T))
                    ; %OR
                    \+State,
                    retractall(up(state, _))
                )
           ),___IGNORE).

monitoring:-  %time up events
    %List of states that we need to UP events
    List = [x_is_at(_), y_is_at(_), z_is_at(_) /*other states*/],
    findall(__IGNORE,
          (
                member(State, List),
                (      State,
                    \+down(State, _),
                    currTimeMili(T),
                    assert( down(State, T))
                    ; %OR
                    \+State,
                    retractall(down(state, _))
                )
           ),____IGNORE).


save_warehouse_states:-
    tell('kbase/warehouse_saved.pl'),
    listing(x_is_near),
    listing(x_before),
    listing(z_is_near),
    listing(z_before),
    listing(y_is_near),
    listing(y_before),

    %other facts like: listing(cell)
    told.

currTimeMili(Time):-
    get_time(CurrTime),
    Time is CurrTime*1000.