//  created:    2013/12/10
//  filename:   ButterworthLowPass_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet permettant le calcul d'un filtre passe bas de Butterworth
//
//
/*********************************************************************/

#include "ButterworthLowPass_impl.h"
#include "ButterworthLowPass.h"
#include <cvmatrix.h>
#include <Layout.h>
#include <GroupBox.h>
#include <SpinBox.h>
#include <DoubleSpinBox.h>

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

ButterworthLowPass_impl::ButterworthLowPass_impl(ButterworthLowPass* self,const LayoutPosition* position,string name,int order)
{
    //init UI
    GroupBox* reglages_groupbox=new GroupBox(position,name);
        T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,10,0.01);
        cutoff=new DoubleSpinBox(reglages_groupbox->NewRow(),"cutoff frequency"," Hz",0,10000,0.1,2,1);

    cvmatrix_descriptor* desc=new cvmatrix_descriptor(1,1);
    desc->SetElementName(0,0,"output");
    output=new cvmatrix(self,desc,floatType,name);

    output->SetValue(0,0,0);

	f= new PoleFilter(order);

    if(T->Value()!=0) f->setup(1./T->Value(), cutoff->Value());
	f->reset();

	first_update=true;
}

ButterworthLowPass_impl::~ButterworthLowPass_impl()
{
    delete f;
}

void ButterworthLowPass_impl::UpdateFrom(const io_data *data)
{
    float result;
    cvmatrix *input=(cvmatrix*)data;

    if(T->ValueChanged() || cutoff->ValueChanged())
    {
        if(T->Value()!=0)
        {
            f->setup (1./T->Value(), cutoff->Value());
        }
        else
        {
            first_update=true;
        }
    }

    //on prend une fois pour toute les mutex et on fait des accès directs
    output->GetMutex();
    input->GetMutex();

    if(T->Value()==0)
    {
        float delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
        f->setup (1./delta_t, cutoff->Value());
    }

    if(first_update==true)
    {
        first_update=false;
    }
    else
    {
        result = f->filter(input->ValueNoMutex(0,0));
        output->SetValueNoMutex(0,0,result);
    }

    input->ReleaseMutex();
    output->ReleaseMutex();

    output->SetDataTime(data->DataTime());
    previous_time=data->DataTime();
}