/*
 * EncoderMultiturnWraperInitializer.cpp
 *
 *  Created on: 22 сент. 2021 г.
 *      Author: sozonov
 */

#include "EncoderMultiturnWraper.hh"
#include "../../systemic/ValueLazyFast.hpp"
#include "../../systemic/MemberFuntion.hpp"
#include "../../driver/EncoderMultiturnWraper.hh"

bool application::board::EncoderMultiturnWraper::input( Environment & env ) {

    return grab( singleturn, env.rholder.getShared<driver::IEncoder>( links.singleturn ) );
}

void application::board::EncoderMultiturnWraper::build( Environment & env ) {

    typedef ::driver::detail::EncoderMultiturnWraper EncoderMultiturnWraperLogic;

    ::driver::detail::EncoderMultiturnWraper::Setting conf = { .max_angle_delta = config.max_angle_delta, .num_turn = config.num_turn };

    EncoderMultiturnWraperLogic * encoder_multiturn_logic =  memories::instance_object<EncoderMultiturnWraperLogic>( env.static_data_ma, *singleturn, config.max_error );

    encoder_multiturn_logic->configure(conf);


    env.rholder.share<driver::IEncoder>( *encoder_multiturn_logic, links.multiturn );

    systemic::ProcScheduler::ProcessParameter proc = {
        .priority = params.priority,
        .period = params.period, .phase = params.phase,
        .controlled = false
    };

    env.scheduler.registerProcess( params.processor_id, *encoder_multiturn_logic, proc );

    typedef systemic::detail::ValueLazyFast<bool, EncoderMultiturnWraperLogic, &EncoderMultiturnWraperLogic::isFailure> Failure;
    env.statuses.add( links.failure, memories::instance_object<Failure>( env.static_setup_ma, *encoder_multiturn_logic ) );
    typedef systemic::detail::ValueLazyFast<bool, EncoderMultiturnWraperLogic, &EncoderMultiturnWraperLogic::isValidData> ValidData;
    env.statuses.add( links.valid_data, memories::instance_object<ValidData>( env.static_setup_ma, *encoder_multiturn_logic ) );

    typedef systemic::detail::MemberFuntion<EncoderMultiturnWraperLogic, void, &EncoderMultiturnWraperLogic::reset > ActionReset;
    ActionReset * action_reset = memories::instance_object<ActionReset>( env.static_setup_ma, *encoder_multiturn_logic );
    env.rholder.share<Action>( *action_reset, links.reset );


}

application::board::EncoderMultiturnWraper::EncoderMultiturnWraper( const Links & links, const Setting & setting, const configuration::ProcessConfig & params) :
    links(links), config(setting), params(params) {}