/************************************************************************************************************************
 **************************************************************************************************************************/

#include "include.h"

#include <Modules/Stubs_Handler/DataDef.h>
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/common/MessageContainer.pb-c.h"

#include "thread.h"
#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
InternalWinderConfigStruc InternalWinderCfg;
DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS];



uint32_t InternalWinderConfigMessage(HardwareWinder* request)
{
    uint32_t status = PASSED;

    InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;

    return status;
}
uint32_t InternalWindingConfigMessage(JobSpool* request)
{
    uint32_t status = PASSED;

    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
    InternalWinderCfg.spoolbackingrate = request->backingrate;
    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;

    return status;
}

//********************************************************************************************************************
uint32_t MotorsConfigMessage(HardwareMotor * request)
{
    uint32_t status = PASSED;
    int Motor_i;

    Motor_i = request->hardwaremotortype;
    if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM))
    {
        MotorsCfg[Motor_i].id               = request->hardwaremotortype;
        MotorsCfg[Motor_i].minfreq          = request->minfrequency;
        MotorsCfg[Motor_i].maxfreq          = request->maxfrequency;
        MotorsCfg[Motor_i].minmicrostep     = request->minmicrostep;
        MotorsCfg[Motor_i].maxmicrostep     = request->maxmicrostep;
        MotorsCfg[Motor_i].linearratio      = request->linearratio;
        MotorsCfg[Motor_i].medianposition   = request->medianposition;
        MotorsCfg[Motor_i].correctiongain   = request->correctiongain;
        MotorsCfg[Motor_i].ratio2dryerspeed  = request->ratiotodryerspeed;
        MotorsCfg[Motor_i].kp               = request->kp;
        MotorsCfg[Motor_i].ki               = request->ki;
        MotorsCfg[Motor_i].kd               = request->kd;
        MotorsCfg[Motor_i].changeslope      = request->changeslope;
        MotorsCfg[Motor_i].hightimeoutusec  = request->highlengthmicrosecond;
        return status;
    }
    else return Motor_i;

}
uint32_t DancerConfigMessage(HardwareDancer * request)
{
    uint32_t status = PASSED;
    int Dancer_i;

    Dancer_i = request->hardwaredancertype;
    if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS ))
    {
        DancersCfg[Dancer_i].id = Dancer_i;
        DancersCfg[Dancer_i].fixorgradual = request->gradual;
        DancersCfg[Dancer_i].k = request->k;
        DancersCfg[Dancer_i].x = request->x;
        DancersCfg[Dancer_i].pulsepermmspring = request->pulsepermmspring;
        return status;
    }
    else
        return Dancer_i;

}

uint32_t thread_init(void)
{
    memset (MotorsCfg,0,sizeof(MotorsCfg));
    memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));

    return OK;
}