//  created:    2013/06/26
//  filename:   Loop.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//
//
/*********************************************************************/

//include header of the class
#include "Loop.h"
//include only header of class declared in Loop.h (forward declaration)
#include "Sinus.h"
#include "MeanFilter.h"
#include <LowPassFilter.h>
#include <ButterworthLowPass.h>
#include <FrameworkManager.h>
#include <Tab.h>
#include <GridLayout.h>
#include <SpinBox.h>
#include <PushButton.h>
#include <DataPlot1D.h>
#include <cvmatrix.h>


using namespace std;
using namespace flair::core;
using namespace flair::gui;
using namespace flair::filter;
using namespace flair::sensor;

Loop::Loop(FrameworkManager* parent,string name,int priority): Thread(parent,name,priority) {
    Tab *mainTab=new Tab(parent->GetTabWidget(),ObjectName());
    killButton=new PushButton(mainTab->NewRow(),"kill");
    startLogButton=new PushButton(mainTab->NewRow(),"start_log");
    stopLogButton=new PushButton(mainTab->LastRowLastCol(),"stop_log");
    period=new SpinBox(mainTab->NewRow(),"period thread:"," ms",10,1000,1);

    sinus=new Sinus(parent,"sinus");
    sinus->UseDefaultPlot();

    //1st order law pass filter on raw signal, its parent is the sinus
    firstLowPass=new LowPassFilter(sinus,sinus->GetSetupLayout()->NewRow(),"1st order lawpass filter");
    sinus->GetPlot()->AddCurve(firstLowPass->Matrix()->Element(0),DataPlot::Blue);//add output of the filter to signal's graph

    //3rd order law pass filter on raw signal, its parent is the sinus
    thirdLowPass=new ButterworthLowPass(sinus,sinus->GetSetupLayout()->NewRow(),"3rd order lawpass filter",3);
    sinus->GetPlot()->AddCurve(thirdLowPass->Matrix()->Element(0),DataPlot::Yellow);//add output of the filter to signal's graph

    //mean filter on raw signal, its parent is the sinus
    mean=new MeanFilter(sinus,sinus->GetSetupLayout()->NewRow(),"Mean filter");
    sinus->GetPlot()->AddCurve(mean->GetMatrix()->Element(0),DataPlot::Green);//add output of the filter to signal's graph

    //mean filter on 1st order law pass filter, its parent is the 1st order law pass filter
    meanOnfirstLowPass=new MeanFilter(firstLowPass,sinus->GetSetupLayout()->NewRow(),"Mean filter on 1st order lawpass filter");
    sinus->GetPlot()->AddCurve(meanOnfirstLowPass->GetMatrix()->Element(0),DataPlot::Black);//add output of the filter to signal's graph

    //set ojects to be logged
    //as the law pass filters and the mean filters have the sinus as parent, they are automatically logged
    parent->AddDeviceToLog(sinus);
}

Loop::~Loop() {

}

//main loop of the Thread
void Loop::Run(void) {
    //warn if changing from primary to secondary mode when in real time
    WarnUponSwitches(true);

    sinus->Start();

    SetPeriodMS(period->Value());

    while(1) {
        WaitPeriod();

        if(period->ValueChanged()) SetPeriodMS(period->Value());

        if(killButton->Clicked()) break;
        if(startLogButton->Clicked()) getFrameworkManager()->StartLog();
        if(stopLogButton->Clicked()) getFrameworkManager()->StopLog();

        //nothing more to do
        //this is a very simple example

        //normaly, we should use results of filters to calculate a control law
    }

    WarnUponSwitches(false);
}