// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/04/11
//  filename:   UavMultiplex_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class defining uav multiplexing
//
//
/*********************************************************************/

#include "UavMultiplex_impl.h"
#include "UavMultiplex.h"
#include <cvmatrix.h>
#include <FrameworkManager.h>
#include <TabWidget.h>
#include <Tab.h>
#include <GridLayout.h>
#include <ComboBox.h>
#include <GroupBox.h>
#include <sstream>

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

UavMultiplex_impl::UavMultiplex_impl(const FrameworkManager* parent,UavMultiplex* self,std::string name) {
    input=new cvmatrix(self,7,1,floatType);
    multiplexcombobox=NULL;
    this->self=self;

    //station sol
    main_tab=new Tab(parent->GetTabWidget(),name);
    tabwidget=new TabWidget(main_tab->NewRow(),"UavMultiplex");
	setup_tab=new Tab(tabwidget,"Setup");
}

UavMultiplex_impl::~UavMultiplex_impl(void)
{
    delete main_tab;
    if(multiplexcombobox!=NULL) free(multiplexcombobox);
}

void UavMultiplex_impl::SetMultiplexComboBox(string name,int index)
{
    //we do not know motorcount at constructor time, so allocation is done here
    if(multiplexcombobox==NULL)
    {
        multiplexcombobox=(ComboBox**)malloc(self->MotorsCount()*sizeof(ComboBox*));
        for(int i=0;i<self->MotorsCount();i++) multiplexcombobox[i]=NULL;
        groupbox=new GroupBox(setup_tab->NewRow(),"motor attribution");
    }
    if(index>self->MotorsCount())
    {
        self->Err("index out of bound %i/%i\n",index,self->MotorsCount());
        return;
    }
    if(multiplexcombobox[index]!=NULL)
    {
        self->Err("index already setup\n");
        return;
    }

    multiplexcombobox[index]=new ComboBox(groupbox->At(index/4,index%4),name);

    for(int i=0;i<self->MotorsCount();i++)
    {
        ostringstream oss;
        oss << i;
        multiplexcombobox[index]->AddItem(oss.str());
    }
}

int UavMultiplex_impl::MultiplexValue(int index) const
{
    if(multiplexcombobox[index]!=NULL)
    {
        return multiplexcombobox[index]->CurrentIndex();
    }
    else
    {
        self->Err("multiplex not setup for motor %i\n",index);
        return 0;
    }

}