/*
   * Copyright 2007-2008 (c) Erik Sjodin, eriksjodin.net
   *
   * Devloped at: The Interactive Institutet / Art and Technology,
   * OF Lab / Ars Electronica
   *
   * Permission is hereby granted, free of charge, to any person
   * obtaining a copy of this software and associated documentation
   * files (the "Software"), to deal in the Software without
   * restriction, including without limitation the rights to use,
   * copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the
   * Software is furnished to do so, subject to the following
   * conditions:
   *
   * The above copyright notice and this permission notice shall be
   * included in all copies or substantial _portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
   * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
   * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
   * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
   * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
   * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
   * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
   * OTHER DEALINGS IN THE SOFTWARE.
   */
  
  include <ofArduino.h>
  include <ofUtils.h>
  
  ofArduino::ofArduino():ofStandardFirmata(){
          for (int i=0; i<ARD_TOTAL_DIGITAL_PINS; ++i) {
                  _servoValue[i] = -1;
          }
          bUseDelay = true;
  }
  
  ofArduino::~ofArduino() {
  }
  
  int ofArduino::connect(string device, int baud){
          connectTime = ofGetElapsedTimef();
          connected = ofStandardFirmata::connect(device, baud);
          return connected;
  }
  
  bool ofArduino::isArduinoReady(){
          if(bUseDelay)
                  return (ofGetElapsedTimef() - connectTime) > OF_ARDUINO_DELAY_LENGTH ? connected : false;
          else
                  return connected;
  }
  
  void  ofArduino::setUseDelay(bool bDelay){
          bUseDelay = bDelay;
  }
  
  void ofArduino::sendServo(int pin, int value, bool force){
          if(_digitalPinMode[pin]==ARD_SERVO && (_servoValue[pin]!=value || force)){
                  sendByte(FIRMATA_START_SYSEX);
                  sendByte(SYSEX_SERVO_WRITE);
                  sendByte(pin);
                  sendValueAsTwo7bitBytes(value);
                  sendByte(FIRMATA_END_SYSEX);
                  _servoValue[pin]=value;
          }
  }
  
  void ofArduino::sendServoAttach(int pin, int minPulse, int maxPulse, int angle) {
          sendByte(FIRMATA_START_SYSEX);
          sendByte(SYSEX_SERVO_ATTACH);
          sendByte(pin);
          sendValueAsTwo7bitBytes(minPulse);
          sendValueAsTwo7bitBytes(maxPulse);
          sendByte(FIRMATA_END_SYSEX);
          _digitalPinMode[pin]=ARD_SERVO;
  }
  
  void ofArduino::sendServoDetach(int pin) {
          sendByte(FIRMATA_START_SYSEX);
          sendByte(SYSEX_SERVO_DETACH);
          sendByte(pin);
          sendByte(FIRMATA_END_SYSEX);
          _digitalPinMode[pin]=ARD_OUTPUT;
  }
  
  int ofArduino::getServo(int pin){
          if(_digitalPinMode[pin]==ARD_SERVO)
                  return _servoValue[pin];
          else
                  return -1;
  }
  
  // sysex data is assumed to be 8-bit bytes split into two 7-bit bytes.
  void ofArduino::processSysExData(vector<unsigned char> data){
  
          vector<unsigned char>::iterator it;
          //unsigned char buffer;
          //int i = 1;
  
          // act on reserved sysEx messages (extended commands) or trigger SysEx event...
          /*
          
          // zach - altered because VS is unhappy with switches that have no case.
  
          switch(data.front()) { //first byte in buffer is command
                  default: // the message isn't in this class extended command set, pass it...
                          ofStandardFirmata::processSysExData(data);
                          break;
          }*/
  
          ofStandardFirmata::processSysExData(data);
  }