// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/11/13
//  filename:   XBldc_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant les moteurs i2c Xufo
//
//
/*********************************************************************/

#include "XBldc_impl.h"
#include "XBldc.h"
#include <I2cPort.h>
#include <cvmatrix.h>
#include <string.h>

#define BASE_ADDRESS 0x01
#define MAX_VALUE 200

using namespace flair::core;
using namespace flair::gui;
using namespace flair::actuator;

XBldc_impl::XBldc_impl(XBldc* self,I2cPort* i2cport) {
    this->self=self;
	this->i2cport=i2cport;

    i2cport->SetTxTimeout(5000000);
}

XBldc_impl::~XBldc_impl() {
}

void XBldc_impl::SetMotors(float* value) {
    uint8_t tosend_value[5];

    for(int i=0;i<4;i++) tosend_value[i]=(uint8_t)(MAX_VALUE*value[i]);

    ssize_t written;
    tosend_value[4]=0xaa;
    for(int i=0;i<4;i++) tosend_value[4]+=tosend_value[i];
    self->Err("please verify motors adresses\n");
    //todo faire la procedure changement addresse par la station sol
/*
    i2cport->GetMutex();
    i2cport->SetSlave(BASE_ADDRESS);

    written =i2cport->Write(tosend_value, sizeof(tosend_value));
    if(written<0)
    {
        self->Err("rt_dev_write error (%s)\n",strerror(-written));
    }
    else if (written != sizeof(tosend_value))
    {
        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tosend_value));
    }

    i2cport->ReleaseMutex();*/

}
/*
void XBldc_impl::StartTest(uint8_t moteur)
{
    unsigned char tx[4];
    ssize_t written;

    tx[0]=251;
    tx[1]=moteur;
    tx[2]=0;
    tx[3]=231+moteur;

    i2cport->GetMutex();
    i2cport->SetSlave(BASE_ADDRESS);

    written =i2cport->Write(tx, sizeof(tx));
    if(written<0)
    {
        self->Err("rt_dev_write error (%s)\n",strerror(-written));
    }
    else if (written != sizeof(tx))
    {
        self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
    }

    i2cport->ReleaseMutex();
}
*/
void XBldc_impl::ChangeDirection(uint8_t moteur) {
    unsigned char tx[4];
    ssize_t written;

    tx[0]=254;
    tx[1]=moteur;
    tx[2]=0;
    tx[3]=234+moteur;

    i2cport->GetMutex();
    i2cport->SetSlave(BASE_ADDRESS);

    written =i2cport->Write(tx, sizeof(tx));
    if(written<0) {
        self->Err("rt_dev_write (%s) error\n",strerror(-written));
    } else if (written != sizeof(tx)) {
        self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
    }

    i2cport->ReleaseMutex();
}

void XBldc_impl::ChangeAdress(uint8_t old_add,uint8_t new_add) {
    unsigned char tx[4];
    ssize_t written;

    tx[0]=250;
    tx[1]=old_add;
    tx[2]=new_add;
    tx[3]=230+old_add+new_add;

    i2cport->GetMutex();
    i2cport->SetSlave(BASE_ADDRESS);

    written =i2cport->Write(tx, sizeof(tx));
    if(written<0) {
        self->Err("rt_dev_write error (%s)\n",strerror(-written));
    } else if (written != sizeof(tx)) {
        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
    }

    i2cport->ReleaseMutex();
}

uint8_t XBldc_impl::Sat(float value,uint8_t min,uint8_t max) {
  uint8_t sat_value=(uint8_t)value;

  if(value>((float)sat_value+0.5)) sat_value++;

  if(value<(float)min) sat_value=min;
  if(value>(float)max) sat_value=max;

  return sat_value;
}