// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/11/14
//  filename:   Bldc.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Virtual class for brushless drivers
//
//
/*********************************************************************/

#include "Bldc.h"
#include "Bldc_impl.h"
#include <cvmatrix.h>
#include <DoubleSpinBox.h>
#include <sstream>

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

namespace flair { namespace actuator {

Bldc::Bldc(const IODevice* parent,Layout* layout,string name,uint8_t motors_count) : IODevice(parent,name) {
    pimpl_=new Bldc_impl(this,layout,name,motors_count);

    cvmatrix_descriptor* desc=new cvmatrix_descriptor(motors_count,2);
    for(int i=0;i<motors_count;i++) {
        ostringstream speed,current;
        speed << "speed_" << i;
        desc->SetElementName(i,0,speed.str());

        current << "current_" << i;
        desc->SetElementName(i,1,current.str());
    }

    output=new cvmatrix(this,desc,floatType);
    AddDataToLog(output);
}

Bldc::Bldc(const Object* parent,string name,uint8_t motors_count) : IODevice(parent,name) {
    pimpl_=new Bldc_impl(this,motors_count);
}

Bldc::~Bldc() {
    delete pimpl_;
}

void Bldc::UpdateFrom(const io_data *data) {
    pimpl_->UpdateFrom(data);
}

void Bldc::LockUserInterface(void) const {
    pimpl_->LockUserInterface();
}

void Bldc::UnlockUserInterface(void) const {
    pimpl_->UnlockUserInterface();
}

Layout* Bldc::GetLayout(void) const {
    return (Layout*)pimpl_->layout;
}

void Bldc::UseDefaultPlot(TabWidget* tabwidget) {
    pimpl_->UseDefaultPlot(tabwidget);
}

uint8_t Bldc::MotorsCount(void) const {
    return pimpl_->motors_count;
}

cvmatrix *Bldc::Output(void) const {
    return output;
}

bool Bldc::AreEnabled(void) const {
    return pimpl_->are_enabled;
}

void Bldc::SetEnabled(bool status) {
    if(pimpl_->are_enabled!=status) {
        pimpl_->are_enabled=status;
        if(pimpl_->are_enabled) {
            LockUserInterface();
        } else {
            UnlockUserInterface();
        }
    }
}

void Bldc::SetPower(int motor_id,float value) {
    //use output mutex to avoid making a new mutex
    output->GetMutex();
    pimpl_->power[motor_id]=value;
    output->ReleaseMutex();
}

} // end namespace sensor
} // end namespace flair