// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2015/04/14
//  filename:   TargetController.h
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Base class for target side remote controls
//
//
/*********************************************************************/

#ifndef TARGETCONTROLLER_H
#define TARGETCONTROLLER_H

#include <IODevice.h>
#include <Thread.h>
#include <stdint.h>
#include <queue>

namespace flair {
    namespace core {
        class FrameworkManager;
        class cvmatrix;
        class Socket;
        class io_data;
    }
    namespace gui {
        class Tab;
        class TabWidget;
        class DataPlot1D;
    }
}

namespace flair { namespace sensor {
    enum class ControllerAction;

    /*! \class TargetController
    *
    * \brief Base Class for target side remote controls
    *
    */
    class TargetController : public core::Thread, public core::IODevice {
    public:
        TargetController(const core::FrameworkManager* parent,std::string name,uint8_t priority=0);
        ~TargetController();
        //void DrawUserInterface();
        virtual bool IsConnected() const=0;
        virtual bool IsDataFrameReady()=0;
        //axis stuff
        unsigned int GetAxisNumber() const;
        virtual std::string GetAxisName(unsigned int axisId) const;
        float GetAxisValue(unsigned int axisId) const;// always in the range [-1.0,1.0]
        //button stuff
        unsigned int GetButtonNumber() const;
        bool IsButtonPressed(unsigned int buttonId) const;
        virtual std::string GetButtonName(unsigned int axisId) const;
        //controller state stuff
        virtual bool IsControllerActionSupported(ControllerAction action) const {return false;};
        bool SetLedOn(unsigned int ledId);
        bool SetLedOff(unsigned int ledId);
        bool Rumble(unsigned int left_force,unsigned int left_timeout,unsigned int right_force,unsigned int right_timeout);
        bool FlashLed(unsigned int ledId,unsigned int on_timeout,unsigned int off_timeout);
        void UpdateFrom(const core::io_data *data){}; //TODO
        gui::Tab* GetTab(void) const;

    protected:
        virtual bool ProcessMessage(core::Message *msg)=0;
        void QueueMessage(core::Message msg);
        virtual bool ControllerInitialization()=0;// {return true;};
        //axis stuff
        unsigned int axisNumber;
        core::cvmatrix* axis=NULL;
        virtual void AcquireAxisData(core::cvmatrix &axis)=0; //responsible for getting the axis data from the hardware
        uint16_t bitsPerAxis;
        //button stuff
        unsigned int buttonNumber;
        core::cvmatrix* button=NULL;
        virtual void AcquireButtonData(core::cvmatrix &button)=0; //responsible for getting the button data from the hardware
        //controller state stuff
        unsigned int ledNumber;
    private:
        void Run();
        std::queue<core::Message *> changeStateQueue;
        flair::gui::Tab* main_tab;
        flair::gui::Tab* setup_tab;
    };

}}

#endif // TARGETCONTROLLER_H