/*
 * Copyright © 2011 Keith Packard <keithp@keithp.com>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; version 2 of the License.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 */

package org.altusmetrum.altoslib_4;

import java.io.*;
import java.util.*;
import java.text.*;

public class AltosEepromMega extends AltosEeprom {
	public static final int	record_length = 32;

	public static final int max_sat = 12;

	public int record_length() { return record_length; }

	/* AO_LOG_FLIGHT elements */
	public int flight() { return data16(0); }
	public int ground_accel() { return data16(2); }
	public int ground_pres() { return data32(4); }
	public int ground_accel_along() { return data16(8); }
	public int ground_accel_across() { return data16(10); }
	public int ground_accel_through() { return data16(12); }
	public int ground_roll() { return data16(14); }
	public int ground_pitch() { return data16(16); }
	public int ground_yaw() { return data16(18); }

	/* AO_LOG_STATE elements */
	public int state() { return data16(0); }
	public int reason() { return data16(2); }

	/* AO_LOG_SENSOR elements */
	public int pres() { return data32(0); }
	public int temp() { return data32(4); }
	public int accel_x() { return data16(8); }
	public int accel_y() { return data16(10); }
	public int accel_z() { return data16(12); }
	public int gyro_x() { return data16(14); }
	public int gyro_y() { return data16(16); }
	public int gyro_z() { return data16(18); }
	public int mag_x() { return data16(20); }
	public int mag_y() { return data16(22); }
	public int mag_z() { return data16(24); }
	public int accel() { return data16(26); }

	/* AO_LOG_TEMP_VOLT elements */
	public int v_batt() { return data16(0); }
	public int v_pbatt() { return data16(2); }
	public int nsense() { return data16(4); }
	public int sense(int i) { return data16(6 + i * 2); }
	public int pyro() { return data16(26); }

	/* AO_LOG_GPS_TIME elements */
	public int latitude() { return data32(0); }
	public int longitude() { return data32(4); }
	public int altitude() { return data16(8); }
	public int hour() { return data8(10); }
	public int minute() { return data8(11); }
	public int second() { return data8(12); }
	public int flags() { return data8(13); }
	public int year() { return data8(14); }
	public int month() { return data8(15); }
	public int day() { return data8(16); }
	public int course() { return data8(17); }
	public int ground_speed() { return data16(18); }
	public int climb_rate() { return data16(20); }
	public int pdop() { return data8(22); }
	public int hdop() { return data8(23); }
	public int vdop() { return data8(24); }
	public int mode() { return data8(25); }

	/* AO_LOG_GPS_SAT elements */
	public int nsat() { return data16(0); }
	public int svid(int n) { return data8(2 + n * 2); }
	public int c_n(int n) { return data8(2 + n * 2 + 1); }

	public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
		parse_chunk(chunk, start);
	}

	public void update_state(AltosState state) {
		super.update_state(state);

		AltosGPS	gps;

		/* Flush any pending GPS changes */
		if (state.gps_pending) {
			switch (cmd) {
			case AltosLib.AO_LOG_GPS_LAT:
			case AltosLib.AO_LOG_GPS_LON:
			case AltosLib.AO_LOG_GPS_ALT:
			case AltosLib.AO_LOG_GPS_SAT:
			case AltosLib.AO_LOG_GPS_DATE:
				break;
			default:
				state.set_temp_gps();
				break;
			}
		}

		switch (cmd) {
		case AltosLib.AO_LOG_FLIGHT:
			state.set_boost_tick(tick);
			state.set_flight(flight());
			state.set_ground_accel(ground_accel());
			state.set_ground_pressure(ground_pres());
			break;
		case AltosLib.AO_LOG_STATE:
			state.set_tick(tick);
			state.set_state(state());
			break;
		case AltosLib.AO_LOG_SENSOR:
			state.set_tick(tick);
			state.set_ms5607(pres(), temp());

			AltosIMU imu = new AltosIMU();
			imu.accel_x = AltosIMU.convert_accel(accel_x());
			imu.accel_y = AltosIMU.convert_accel(accel_y());
			imu.accel_z = AltosIMU.convert_accel(accel_z());

			imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
			imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
			imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
			state.imu = imu;

			AltosMag mag = new AltosMag();
			mag.x = AltosMag.convert_gauss(mag_x());
			mag.y = AltosMag.convert_gauss(mag_y());
			mag.z = AltosMag.convert_gauss(mag_z());

			state.mag = mag;

			state.set_accel(accel());

			break;
		case AltosLib.AO_LOG_TEMP_VOLT:
			state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
			state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));

			int nsense = nsense();

			state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
			state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));

			double voltages[] = new double[nsense-2];
			for (int i = 0; i < nsense-2; i++)
				voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));

			state.set_ignitor_voltage(voltages);
			state.set_pyro_fired(pyro());
			break;
		case AltosLib.AO_LOG_GPS_TIME:
			state.set_tick(tick);
			gps = state.make_temp_gps(false);
			gps.lat = latitude() / 1e7;
			gps.lon = longitude() / 1e7;
			gps.alt = altitude();

			gps.hour = hour();
			gps.minute = minute();
			gps.second = second();

			int flags = flags();

			gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
			gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
			gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
				AltosLib.AO_GPS_NUM_SAT_SHIFT;

			gps.year = 2000 + year();
			gps.month = month();
			gps.day = day();
			gps.ground_speed = ground_speed() * 1.0e-2;
			gps.course = course() * 2;
			gps.climb_rate = climb_rate() * 1.0e-2;
			gps.hdop = hdop();
			gps.vdop = vdop();
			break;
		case AltosLib.AO_LOG_GPS_SAT:
			state.set_tick(tick);
			gps = state.make_temp_gps(true);

			int n = nsat();
			if (n > max_sat)
				n = max_sat;
			for (int i = 0; i < n; i++)
				gps.add_sat(svid(i), c_n(i));
			break;
		}
	}

	public AltosEepromMega (String line) {
		parse_string(line);
	}

	static public LinkedList<AltosEeprom> read(FileInputStream input) {
		LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();

		for (;;) {
			try {
				String line = AltosLib.gets(input);
				if (line == null)
					break;
				try {
					AltosEepromMega mega = new AltosEepromMega(line);
					if (mega.cmd != AltosLib.AO_LOG_INVALID)
						megas.add(mega);
				} catch (Exception e) {
					System.out.printf ("exception\n");
				}
			} catch (IOException ie) {
				break;
			}
		}

		return megas;
	}
}