// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/02/07
//  filename:   SimuBldc.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for a simulation bldc
//
//
/*********************************************************************/
#include "SimuBldc.h"
#include <FrameworkManager.h>
#include <GridLayout.h>
#include <DoubleSpinBox.h>
#include <GroupBox.h>
#include <SharedMem.h>
#include <cvmatrix.h>
#include <sstream>

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

namespace flair
{
namespace actuator
{

SimuBldc::SimuBldc(const IODevice* parent,Layout* layout,string name,uint8_t motors_count,uint32_t dev_id) :Bldc(parent,layout,name,motors_count)
{
    ostringstream dev_name;
    dev_name << "simu_bldc_" << dev_id;
    shmem=new SharedMem(this,dev_name.str().c_str(),motors_count*sizeof(float));

    GroupBox *groupbox=new GroupBox(layout->NewRow(),"simubldc");
    k=new DoubleSpinBox(groupbox->NewRow(),"k driver:",0,10000,1);
}

SimuBldc::SimuBldc(const Object* parent,string name,uint8_t motors_count,uint32_t dev_id) :Bldc(parent,name,motors_count) {
    ostringstream dev_name;
    dev_name << "simu_bldc_" << dev_id;
    shmem=new SharedMem(this,dev_name.str().c_str(),motors_count*sizeof(float));

    //reset values
    float values[motors_count];
    for(int i=0;i<motors_count;i++) values[i]=0;

    shmem->Write((char*)&values,motors_count*sizeof(float));
}

SimuBldc::~SimuBldc() {
}

void SimuBldc::SetMotors(float* value) {
    float values[MotorsCount()];

    for(int i=0;i<MotorsCount();i++) values[i]=k->Value()*value[i];

    shmem->Write((char*)&values,MotorsCount()*sizeof(float));

    //on prend une fois pour toute le mutex et on fait des accès directs
    output->GetMutex();
    for(int i=0;i<MotorsCount();i++) output->SetValueNoMutex(i,0,values[i]);
    output->ReleaseMutex();
}

void SimuBldc::GetSpeeds(float* value) const {
    float values[MotorsCount()];
    shmem->Read((char*)&values,MotorsCount()*sizeof(float));

    for(int i=0;i<MotorsCount();i++) value[i]=values[i];
}

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