/*
 * QuadratureEncoderSetup.cpp
 *
 *  Created on: 22 ÿíâ. 2020 ã.
 *      Author: user
 */

#include "QuadratureEncoderSetup.hh"

#include "../../systemic/ValueLazyFast.hpp"
#include "../../systemic/Scheduler.hpp"
#include "../../systemic/Process.hpp"

#include "../../driver/EncoderQuadratureCounter.hh"

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

    return grab( counter, env.rholder.getShared< peripheral::ICounter >( links.counter_id ) )
                && grab( gpio_sel1, env.rholder.getShared< peripheral::IGpio >( links.sel1_pin_id ) )
                && grab( gpio_sel2, env.rholder.getShared< peripheral::IGpio >( links.sel2_pin_id ) );

}

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

    typedef driver::derail::EncoderQuadratureCounter Encoder;

    gpio_sel1->write( config.sel1_active_level );
    gpio_sel2->write( config.sel2_active_level );

    Encoder * encoder_driver = memories::instance_object<Encoder>(
                env.static_object_ma,
                *counter
        );

    Encoder::Setting encoder_setting = {
        .max_turn_value = config.max_turn_value,
        .line_in_turn = config.line_in_turn
    };

    encoder_driver->configure( encoder_setting );

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

    env.scheduler.registerProcess( params.processor_id, *memories::instance_object< systemic::Process<Encoder> >( env.static_object_ma, *encoder_driver ),
                                   proc );

    env.rholder.share<driver::IEncoder>( *encoder_driver, links.encoder_id );

    typedef systemic::detail::ValueLazyFast< bool, Encoder, &Encoder::isFailure> FailureStatus;
    env.statuses.add( links.failure_id, memories::instance_object<FailureStatus>( env.static_setup_ma, *encoder_driver ) );

    typedef systemic::detail::ValueLazyFast< float, Encoder, &Encoder::getAngle> EncoderAngle;
    env.signals.add( links.encoder_angle_sig_id, memories::instance_object<EncoderAngle>( env.static_setup_ma, *encoder_driver ) );

    typedef systemic::detail::ValueLazyFast< float, Encoder, &Encoder::getTurn> EncoderTurn;
    env.signals.add( links.encoder_turn_sig_id, memories::instance_object<EncoderTurn>( env.static_setup_ma, *encoder_driver ) );

}

application::board::QuadratureEncoderSetup::QuadratureEncoderSetup(
        const Links & links, const Setting & config, const configuration::ProcessConfig & proc ) :
                links(links), config(config), params(proc),
                gpio_sel1(nullptr), gpio_sel2(nullptr), counter(nullptr) {}