#include "Brooks0254Chassis.hh"
#include "Brooks0254Par.hh"
#include "Brooks0254GlobPar.hh"


//! Number of card in Brooks0254 is 4. At this point this is the
//! maxumal configuration of this hardware. 
const unsigned Brooks0254Chassis::bcCardMax   = 4;

int  Brooks0254Chassis::bcDummyInt = Brooks0254Chassis::InitGlobalMutex();


//! Constructor to create a new object and open new serial port. After
//! creating the serial port object it creates the Brooks0254Card
//! objects correponding to the cards in this Brooks0254 chassis.  
Brooks0254Chassis::Brooks0254Chassis( unsigned portID, unsigned addr, string devName ) :
  Brooks0254Module( addr )  {
  if( bmDebFlag > 1 )
    cout << "Started constructing chassis #" << portID << endl;
  MtxLock scopeLock( bmMutex );
  
  //! Create the serial communication port object
  bmPort = new Brooks0254Port( portID, devName ); 

  bool commFlag = false;

  scopeLock.Unlock();
  commFlag = CommIsOK();
  scopeLock.Lock();

  if( bmDebFlag > 1 ) {
    cout << "Chassis #" << portID << " will create the cards " << endl;
    cout << "Chassis port address is " << bmPort << endl;
  }
  //! Create all cards 
  for( unsigned iCard = 0; iCard < bcCardMax; iCard++ ) {
    scopeLock.Unlock();
    Brooks0254Card* cardPtr = new Brooks0254Card( *this, iCard );
    bcCard.push_back( cardPtr ); 
    scopeLock.Lock();
  }

  //! Create global parameters 
  //! Zero Supression
  {
    scopeLock.Unlock();
    Brooks0254ParID parID( Brooks0254ParID::bpiGlobal, 32 ) ;  
    Brooks0254GlobPar<bool>* newPar = new Brooks0254GlobPar<bool>( *this, parID ) ;
    scopeLock.Lock();
    bcPar[parID] = newPar ;
  }
  //! SetPoint Clear
  {
    scopeLock.Unlock();
    Brooks0254ParID parID( Brooks0254ParID::bpiGlobal, 33 ) ;  
    Brooks0254GlobPar<bool>* newPar = new Brooks0254GlobPar<bool>( *this, parID ) ;
    scopeLock.Lock();
    bcPar[parID] = newPar ;
  }
  //! Audio Beep
  {
    scopeLock.Unlock();
    Brooks0254ParID parID( Brooks0254ParID::bpiGlobal, 39 ) ;  
    Brooks0254GlobPar<bool>* newPar = new Brooks0254GlobPar<bool>( *this, parID ) ;
    scopeLock.Lock();
    bcPar[parID] = newPar ;
  }


  if ( bmDebFlag > 1 ) 
    cout << "Finished constructing chassis #" << portID << endl;
  return;
}


//! Copy constructor
Brooks0254Chassis::Brooks0254Chassis( Brooks0254Chassis& chassis ) : 
  Brooks0254Module( chassis ) {
  MtxLock localLock( bmMutex );
  bcCard = chassis.GetCardVector();  
  return;
}


//! Destructor is expected to be called after the thread corresponding
//! to this instance is already stopped. A this point all it needs to
//! do is to close the serial port if it is open.
Brooks0254Chassis::~Brooks0254Chassis() { 
  cout << "Entering Chassis destructor " << endl;
  {
    MtxLock localLock( bmMutex );
    if( bmPort != 0 ) delete bmPort;
  }
  cout << "Chassis destruction done" << endl;
  return;
}

//! Copy operator for the chassis 
Brooks0254Chassis& Brooks0254Chassis::operator=( Brooks0254Chassis& chassis ) {
  if( this == &chassis ) return *this;
  
  Brooks0254Module::operator=( chassis );
  MtxLock scopeLock( bmMutex );
  bcCard = chassis.GetCardVector();
  return *this;
}




//! Send "AZI" identification message to the device requiring the device to report back.
//! Then checks the size of the readback string, and if it is zero
//! return false value because this would mean that the checksum
//! received did not match the checksum of the message read back.
bool Brooks0254Chassis::CommIsOK() {
  if( bmDebFlag > 1 ) cout << "Checking serial port #" << 
			bmPort->GetID() << endl;
    
  bool portOK = true;
  MtxLock scopeLock( bmMutex );
  
  //! Create the synchronization string to terminate commands on the
  //! Brook device and put it into the initial state
  stringstream ssClear; 
  ssClear << static_cast<char>(27) << string( "AZ" ) ; 
  string strClear =  ssClear.str();
  bmPort->Send( strClear, false ); 
  usleep( Brooks0254Port::bpWriteDelay ) ;
  
  string strID = "AZI";
  string readBack = bmPort->Send( strID, true ); 
  if( readBack.empty() ) portOK = false;
  if( bmDebFlag > 1 ) cout << "Response was " << readBack << endl;  
  
  return portOK;
}


//! Sync the particular chassis with the hardware. It loops over all
//! cards and calls Sync method of each card, which is supposed to
//! chain down to every parameter in the chassis. 
void Brooks0254Chassis::Sync( bool dir ) {
  bool commFlag = false;
  try {
    commFlag = CommIsOK();
    MtxLock scopeLock( bmMutex );
    bcCommStatus = commFlag;
  }
  catch ( Brooks0254Port::FailedWritePort& err ) {
    cerr << err.msg << endl;
    return;
  }
  catch ( Brooks0254Port::FailedReadPort& err ) {
    cerr << err.msg << endl;
    return;
  }

  if( commFlag ) {
    Brooks0254Card* cardPtr = 0;
    if( bmDebFlag > 1 )
      cout << "Looping through chassis cards " << endl;
    for( unsigned iCard = 0; iCard < bcCardMax; iCard++ ) {
      { MtxLock scopeLock( bmMutex ); cardPtr = bcCard[iCard]; } 
      
      //! Chain the Sync method all the way down to the cards and
      //! parameters. If there are comm-related exceptions, catch them
      //! here, write an error message and return. 
      try {
	if( cardPtr != 0 ) cardPtr->Sync();
      } 
      //! Catch exceptions and return to the Loop which called the
      //! sync methods for the chassis objects. Do not take any action
      //! here, the communications will be checked upstream.
      catch ( Brooks0254Port::FailedWritePort err ) {
	cerr << err.msg << endl;
	MtxLock scopeLock( bmMutex );
	bcCommStatus = false;
	return;
      }
      catch ( Brooks0254Port::FailedReadPort err ) {
	cerr << err.msg << endl;
	MtxLock scopeLock( bmMutex );
	bcCommStatus = false;
	return;
      }
    }

    //! Now loop through the global parameters and synchronize them
    if ( bmDebFlag > 1 ) cout << "Looping through chassis parameters" << endl;
    
    map<Brooks0254ParID, Brooks0254BasePar*>::iterator it;
    map<Brooks0254ParID, Brooks0254BasePar*>::iterator itBegin;
    map<Brooks0254ParID, Brooks0254BasePar*>::iterator itEnd;
    { MtxLock scopeLock( bmMutex ); itBegin = bcPar.begin(); itEnd = bcPar.end(); }

    for( it = itBegin; it != itEnd;  it++ ) {
      Brooks0254BasePar* parPtr = it->second; 
      try {
	if( parPtr != 0 ) parPtr->Sync();
      }
      //! Catch exceptions and return to the Loop which called the
      //! sync methods for the chassis objects. Do not take any action
      //! here, the communications will be checked upstream.
      catch ( Brooks0254Port::FailedWritePort err ) {
	cerr << err.msg << endl;
	MtxLock scopeLock( bmMutex );
	bcCommStatus = false;
	return;
      }
      catch ( Brooks0254Port::FailedReadPort err ) {
	cerr << err.msg << endl;
	MtxLock scopeLock( bmMutex );
	bcCommStatus = false;
	return;
      }
    }
  
  } else {
    cerr << "Brooks0254Chassis::Loop(): Lost communication with the chassis #" << 
      bmPort->GetID() << " on device " << bmPort->GetDevice() << endl;
  }

  return;
}


//! Start or stop Batch delivery mode. 
//! No continuous readback is available
int Brooks0254Chassis::SetBatchMode( int mode ) {
  //! Count how many cards are in batch mode in this chassis
  //! This number is needed to specify the number of response lines
  //! from the serial interface
  Brooks0254ParID batchParID( Brooks0254ParID::bpiOutput, 2 ) ;  
  int nBatchCard = 0;
  for( unsigned iCard = 0; iCard < bcCard.size(); iCard++ ) {
    Brooks0254Card* cardPtr = GetCard( iCard );
    if( cardPtr != 0 ) {
      Brooks0254Par<int>* parPtr = dynamic_cast<Brooks0254Par<int>*>
	( cardPtr->GetPar( batchParID ) );
      if( parPtr != 0 ) 
	if( parPtr->GetReadValue() == 2 ) nBatchCard++; 
    }
  }
  if( bmPort != 0 ) {
    try {
      if( mode == 1 ) {
	//! Start Batch mode
	cout << "Starting batch on chassis #" << bmPort->GetID() << endl;
	cout << "Will read " << nBatchCard << " lines" << endl;
	bmPort->Send( "AZF*", true, nBatchCard );
      } else {
	//! Stop batch mode
	cout << "Stopping batch on chassis #" << bmPort->GetID() << endl;
	cout << "Will read " << nBatchCard << " lines" << endl;
	bmPort->Send( "AZF", true, nBatchCard );      
      }
      cout << "Batch mode has been set to " << mode << endl;
      return 0;
    }
 
    //! Catch exceptions, print messages and return to IOC
    catch ( Brooks0254Port::FailedWritePort err ) {
      cerr << err.msg << endl;
      return -1;
    }
    catch ( Brooks0254Port::FailedReadPort err ) {
      cerr << err.msg << endl;
      return -1;
    }
  }
  return -2;
}


Brooks0254BasePar* Brooks0254Chassis::GetPar( Brooks0254ParID& parID ) {
  MtxLock localLock( bmMutex );
  Brooks0254BasePar* tmpPar = bcPar[parID];
  return tmpPar ;
}