/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

public class AtmostripeMotorController : SerialDevice, MotorController {
	public uint8 min {
		get { return 0; }
	}

	public uint8 max {
		get { return 255; }
	}

	public void init(KeyFile cfg) throws Error {
		var device = cfg.get_string("AtmostripeMotorController", "device");
		setup(device, 9600, 8, 1);
		nop();
		nop();
		nop();
		enable();
	}

	~AtmostripeMotorController() {
		disable();
	}

	public bool disable() {
		uint8[4] buf = new uint8[4];
		buf[0] = 0xDE;
		buf[1] = 0xAD;
		buf[2] = 0xBA;
		buf[3] = 0xBE;

		log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "disable");

		write(buf, 4);
		read(buf, 1);

		if(buf[0] == '.')
			return true;
		else
			return false;
	}

	public bool enable() {
		uint8[4] buf = new uint8[4];
		buf[0] = 0xCA;
		buf[1] = 0xFE;
		buf[2] = 0xBA;
		buf[3] = 0xBE;

		log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "enable");

		write(buf, 4);
		read(buf, 1);

		if(buf[0] == '.')
			return true;
		else
			return false;
	}

	public bool nop() {
		uint8[1] buf = new uint8[1];
		buf[0] = 0x00;

		write(buf, 1);
		read(buf, 1);

		log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "nop");

		if(buf[0] == '.')
			return true;
		else
			return false;
	}

	public bool set_single(uint8 engine, uint8 speed) {
		uint8[2] buf = new uint8[2];
		buf[0] = engine+1;
		buf[1] = speed;

		if(engine > 5)
			return false;

		log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "set single");

		write(buf, 2);
		read(buf, 2);

		if(buf[0] == '.')
			return true;
		else
			return false;
	}

	public bool set_all(uint8 speed) {
		uint8[2] buf = new uint8[2];
		buf[0] = 0xff;
		buf[1] = speed;

		log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "set all");

		write(buf, 2);
		read(buf, 2);

		if(buf[0] == '.')
			return true;
		else
			return false;
	}
}

public Type register_plugin(Module module) {
	// types are registered automatically
	return typeof(AtmostripeMotorController);
}