// %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_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Virtual class for brushless drivers
//
//
/*********************************************************************/
#include "Bldc_impl.h"
#include "Bldc.h"
#include <GridLayout.h>
#include <GroupBox.h>
#include <DoubleSpinBox.h>
#include <cvmatrix.h>
#include <Label.h>
#include <PushButton.h>
#include <DataPlot1D.h>
#include <TabWidget.h>
#include <Tab.h>
#include <FrameworkManager.h>
#include <sstream>

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

Bldc_impl::Bldc_impl(Bldc* self,Layout* layout,string name,uint8_t motors_count) {
    this->self=self;
    this->motors_count=motors_count;
    this->layout=layout;
	are_enabled=false;
	is_running=false;
	tested_motor=-1;

    values=(float*)malloc(motors_count*sizeof(float));
    power=(float*)malloc(motors_count*sizeof(float));
    for(int i=0;i<motors_count;i++) power[i]=1;

    //station sol
	GroupBox* groupbox=new GroupBox(layout->NewRow(),"bldc");
        flight_time=new Label(groupbox->NewRow(),"flight time");
        min_value=new DoubleSpinBox(groupbox->NewRow(),"min value:",0,1,.1,2);
        max_value=new DoubleSpinBox(groupbox->LastRowLastCol(),"max value:",0,1,.1,2);
        test_value=new DoubleSpinBox(groupbox->LastRowLastCol(),"test value:",0,1,0.1);

    int index=0;
    button_test=(PushButton**)malloc(motors_count*sizeof(PushButton*));
    for(int i=0;i<motors_count/2;i++) {
        for(int j=0;j<2;j++) {
            ostringstream test_name;
            test_name << "test motor " << index;
            button_test[index]=new PushButton(groupbox->At(2+i,j),test_name.str());
            index++;
        }
    }

	//flight time
	FILE *file;
    file=fopen("/etc/flight_time","r");
    if (file == NULL) {
        time_sec=0;
    } else {
        char ligne[32];
        fgets(ligne, 32, file);
        time_sec=atoi(ligne);
        fclose(file);
    }
    flight_time->SetText("total flight time: %is = %imin = %ih\n",time_sec,time_sec/60,time_sec/3600);
}

Bldc_impl::Bldc_impl(Bldc* self,uint8_t motors_count) {
    this->self=self;
    this->motors_count=motors_count;
    values=NULL;
    button_test=NULL;
    power=NULL;
}

Bldc_impl::~Bldc_impl() {
    if(values!=NULL) free(values);
    if(button_test!=NULL) free(button_test);
    if(power!=NULL) free(power);
}

void Bldc_impl::UseDefaultPlot(TabWidget* tab) {
    Tab* plot_tab=new Tab(tab,"speeds");
    plots=new DataPlot1D(plot_tab->NewRow(),"values",0,1);
    for(int i=0;i<motors_count;i++) {
        plots->AddCurve(self->output->Element(i));
    }
}

void Bldc_impl::UpdateFrom(const io_data *data) {
    cvmatrix* input=(cvmatrix*)data;
    bool is_motor_running=false;

    if(values==NULL) return;//nothing to do in simulator

    if(input->Rows()!=motors_count) {
        self->Err("nb motors mismatch\n");
        return;
    }

    input->GetMutex();
    for(int i=0;i<motors_count;i++) {
        if(input->ValueNoMutex(i,0)!=0) is_motor_running=true;
        if(are_enabled) {
            //Printf("%i %f %f\n",i,input->ValueNoMutex(i,0),power[i]);
            values[i]=power[i]*Sat(input->ValueNoMutex(i,0));
            //Printf("%i %f\n",i,values[i]);
        } else {
            values[i]=0;
        }
    }
    input->ReleaseMutex();

    if(are_enabled && is_motor_running && !is_running) {
        flight_start_time = GetTime();
        is_running=true;
    }
    if((!are_enabled || !is_motor_running) && is_running) {
        Time now= GetTime();
        int t_sec;
        FILE *file;
        char ligne[32];

        t_sec=(now - flight_start_time)/1000000000;
        time_sec+=t_sec;

        Printf("temps de vol: %is = %imin\n",t_sec,t_sec/60);
        //Printf("temps de vol total: %is = %imin = %ih\n",time_sec,time_sec/60,time_sec/3600);
        flight_time->SetText("total flight time: %is = %imin = %ih\n",time_sec,time_sec/60,time_sec/3600);

        file=fopen("/etc/flight_time","w");
        if (file == NULL) {
            Printf("Erreur a l'ouverture du fichier d'info vol\n");
        } else {
            sprintf(ligne,"%i",time_sec);
            fputs(ligne,file);
            fclose(file);
        }
        is_running=false;
    }

    for(int i=0;i<motors_count;i++) {
        if(button_test[i]->Clicked()==true) {
            if(!are_enabled) {
                tested_motor=i;
                test_start_time=GetTime();
                LockUserInterface();
            } else {
                self->Warn("testing motor is not possible when enabled\n");
            }
        }
    }
    if(tested_motor!=-1) {
        for(int i=0;i<motors_count;i++) {
            values[i]=0;
        }
        values[tested_motor]=test_value->Value();

        if(GetTime()>(test_start_time+2*1000000000)) {
            tested_motor=-1;
            UnlockUserInterface();
        }
    }

    self->SetMotors(values);
    self->output->SetDataTime(data->DataTime());
    self->ProcessUpdate(self->output);
}

float Bldc_impl::Sat(float value) {
    float result=value;

    if(result<min_value->Value()) {
        result=min_value->Value();
    }
    if(result>max_value->Value()) {
        result=max_value->Value();
    }

    return result;
}

void Bldc_impl::LockUserInterface(void) const {
    layout->setEnabled(false);
}

void Bldc_impl::UnlockUserInterface(void) const {
    layout->setEnabled(true);
}