using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Tango.Scripting.Editors.Popups
{
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    {
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        {
            Method = method;
        }

        public MethodDescription Method { get; set; }
        public String Type { get; set; }
        public String Name { get; set; }
        public String pre { line-height: 125%; }
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/************************************************************************************************************************
 **************************************************************************************************************************/

#include <DataDef.h>
#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h>
#include "include.h"

#include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
#include "PMR/Hardware/HardWareConfiguration.pb-c.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
#include  "PMR/Diagnostics/EventType.pb-c.h"

#include "Modules/AlarmHandling/AlarmHandling.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/common/MessageContainer.pb-c.h"

#include "Common/SWUpdate/FileSystem.h"
#include "drivers/Flash_Memory/fatfs/ff.h"
#include "drivers/SSI_Comm/Dancer/Dancer.h"
#include "drivers/Flash_ram/FlashProgram.h"

#include "drivers/Flash_ram/MCU_E2Prom.h"
#include "modules/ids/ids_ex.h"

#include "thread.h"
MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};

double MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};

int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0};
HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};

#define BREAK_SENSOR_LIMIT 10

bool BreakSensorenabled;
int32_t BreakSensordebouncetimemilli = BREAK_SENSOR_LIMIT;

HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0};

//********************************************************************************************************************
uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
{
    uint32_t status = PASSED;
    TimerMotors_t Motor_i,MotorId;
    HardwareMotor *request;
    if (HWrequest == NULL)
        return ERROR;
    AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,OFF);

    for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++)
    {
        request = HWrequest->motors[MotorId];
        if (request == NULL)
            return ERROR;
        Motor_i = request->hardwaremotortype;
        MotorsCfg[Motor_i].configword = request->configword;
        MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype;
        MotorsCfg[Motor_i].minfrequency = request->minfrequency;
        MotorsCfg[Motor_i].maxfrequency = request->maxfrequency;
        MotorsCfg[Motor_i].setmicrostep = request->setmicrostep;
        MotorsCfg[Motor_i].microstep = request->microstep;
        MotorsCfg[Motor_i].maxchangeslope = request->maxchangeslope;
        MotorsCfg[Motor_i].highlengthmicrosecond = request->highlengthmicrosecond;
        MotorsCfg[Motor_i].speedmaster = request->speedmaster;
        MotorsCfg[Motor_i].pulseperround = request->pulseperround;
        MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
        MotorsCfg[Motor_i].configword = request->configword;
        if(MotorDriverResponse[Motor_i].DriverType == CombinrdMotDriver)
        {
            MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize ^ 1;//PowerSTEP01
        }
        else
        {
            MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;//L6470 + L6472
        }
        MotorsCfg[Motor_i].kvalhold = request->kvalhold;
        MotorsCfg[Motor_i].kvalrun = request->kvalrun;
        MotorsCfg[Motor_i].kvalacc = request->kvalacc;
        MotorsCfg[Motor_i].kvaldec = request->kvaldec;
        MotorsCfg[Motor_i].overcurrentthreshold = request->overcurrentthreshold;
        MotorsCfg[Motor_i].stallthreshold = request->stallthreshold;
        MotorsCfg[Motor_i].thermalcompensationfactor = request->thermalcompensationfactor;
        MotorsCfg[Motor_i].lowspeedoptimization = request->lowspeedoptimization;
        MotorsCfg[Motor_i].stslp = request->stslp;
        MotorsCfg[Motor_i].intspd = request->intspd;
        MotorsCfg[Motor_i].fnslpacc = request->fnslpacc;
        MotorsCfg[Motor_i].fnslpdec = request->fnslpdec;
        MotorsCfg[Motor_i].fsspd = request->fsspd;

        MotorsCfg[Motor_i].gatecfg1 = request->gatecfg1;
        MotorsCfg[Motor_i].gatecfg2 = request->gatecfg2;
        MotorsCfg[Motor_i].tvalhold = request->tvalhold;
        MotorsCfg[Motor_i].tvalrun  = request->tvalrun ;
        MotorsCfg[Motor_i].tvalacc  = request->tvalacc ;
        MotorsCfg[Motor_i].tvaldec  = request->tvaldec ;
        MotorsCfg[Motor_i].tfast    = request->tfast   ;
        MotorsCfg[Motor_i].tonmin   = request->tonmin  ;
        MotorsCfg[Motor_i].toffmin  = request->toffmin ;
        MotorsCfg[Motor_i].has_p01configword  = (bool)(request->has_p01configword) ;//needed for backward compatibility
        MotorsCfg[Motor_i].p01configword  = request->p01configword ;

            status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
            if ((Motor_i >= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1)&&(Motor_i <= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8))
            {
                IDS_Dispenser_Init(Motor_i-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
            }
    }
        return status;

}
uint32_t MotorPidRequestMessage(HardwarePidControl* request)
{
    int Motor_i,i;
    int temp;
    for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
    {
        if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype)
        {
            Motor_i = i;
            break;
        }
    }
    memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl));
    if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
        MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
#ifdef TEST_LONGER_PID_THREAD
    MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
#endif
    for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++)
    {
        MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
        MotorSpeedSamples[Motor_i][i] = 0;
    }
    NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
    temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
    temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
    NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
//    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
    temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
    temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
    if (Motor_i == WINDER_MOTOR)
    {
        temp = temp*3/2;
    }
    DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
#ifdef FOUR_WINDERS
    if (Motor_i == WINDER_MOTOR)
    {
        int j,winderMotorId;
        for (j=0;j<3;j++)
        {
            winderMotorId = j+WINDER_2_MOTOR;
            memcpy (&MotorsControl[winderMotorId],request,sizeof(HardwarePidControl));
            if (MotorsControl[winderMotorId].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
                MotorsControl[winderMotorId].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
        #ifdef TEST_LONGER_PID_THREAD
            MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
        #endif
            for (i = 0;i < (int)MotorsControl[winderMotorId].pvinputfilterfactormode; i++)
            {
                MotorSamples[winderMotorId][i] = 0;  //reset the samples value for control beginning
                MotorSpeedSamples[winderMotorId][i] = 0;
            }
            NormalizedErrorCoEfficient[winderMotorId] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
            temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
            temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
            NormalizedErrorCoEfficient[winderMotorId] = NormalizedErrorCoEfficient[winderMotorId] / temp;
        //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
            temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
            temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
            if (Motor_i == WINDER_MOTOR)
            {
                temp = temp*3/2;
            }
            DancerStopActivityLimit[winderMotorId] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
        }
    }
#endif
    return OK;
}
char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";

uint32_t StoreDancerConfigMessage(int DancerId)
{
    uint32_t status = OK;
  //  FRESULT Fresult = FR_OK;
    //HardwareConfiguration DancerConfig;
    HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
#ifdef FOUR_WINDERS
    uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2,EEPROM_STORAGE_DANCER_3,EEPROM_STORAGE_DANCER_4};
#else
    uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2};
#endif
  //  size_t response_size = 0;
    int Dancer_i = DancerId;

    //hardware_configuration__init(&DancerConfig);
    //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
    hardware_dancer__init(&Dancers[Dancer_i]);
    //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i];
    Dancers[Dancer_i].has_zeropoint = true;
    Dancers[Dancer_i].hardwaredancertype = Dancer_i;
    Dancers[Dancer_i].has_hardwaredancertype = true;
    Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
    //DancerConfig.n_dancers++;
    DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint;
    DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0);



    status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
    Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0);
    return status;
}
uint32_t LoadDancerConfigMessage()
{
    uint32_t status = OK;

    MCU_E2PromRead(EEPROM_STORAGE_DANCER_0,&DancersCfg[0].zeropoint);
    MCU_E2PromRead(EEPROM_STORAGE_DANCER_1,&DancersCfg[1].zeropoint);
    MCU_E2PromRead(EEPROM_STORAGE_DANCER_2,&DancersCfg[2].zeropoint);
#ifdef FOUR_WINDERS
    MCU_E2PromRead(EEPROM_STORAGE_DANCER_3,&DancersCfg[3].zeropoint);
    MCU_E2PromRead(EEPROM_STORAGE_DANCER_4,&DancersCfg[4].zeropoint);
#endif

    status |= Report("Dancer 0 Store data eeprom ",__FILE__,__LINE__,0,RpWarning,(int)DancersCfg[0].zeropoint,0);
    status |= Report("Dancer 1 Store data eeprom ",__FILE__,__LINE__,1,RpWarning,(int)DancersCfg[1].zeropoint,0);
    status |= Report("Dancer 2 Store data eeprom ",__FILE__,__LINE__,2,RpWarning,(int)DancersCfg[2].zeropoint,0);
#ifdef FOUR_WINDERS
    status |= Report("Dancer 3 Store data eeprom ",__FILE__,__LINE__,3,RpWarning,(int)DancersCfg[3].zeropoint,0);
    status |= Report("Dancer 4 Store data eeprom ",__FILE__,__LINE__,4,RpWarning,(int)DancersCfg[4].zeropoint,0);
#endif

    return status;

}

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

    Dancer_i = request->hardwaredancertype;
    if (Dancer_i<MAX_SYSTEM_DANCERS )
    {
        memcpy (&DancersCfg[Dancer_i],request,sizeof(HardwareDancer));
        return status;
    }
    else
        return Dancer_i;

}
uint32_t ThreadConfigBreakSensor(void *request)
{
    HardwareBreakSensor  *SensorCfg = (HardwareBreakSensor*)request;
    if (SensorCfg)
    {
        BreakSensorenabled = SensorCfg->enabled;
        if (SensorCfg->debouncetimemilli)
        {
            BreakSensordebouncetimemilli = SensorCfg->debouncetimemilli;
        }
        return OK;
    }
    return ERROR;
}
uint32_t thread_init(void)
{
    //memset (MotorsCfg,0,sizeof(MotorsCfg));
    //memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));

    return OK;
}
void ThreadSetBreakSensorLimit(int limit)
{
    if (limit)
        BreakSensordebouncetimemilli = limit;
}