#include "screen_pixytest.h"
#include "button.h"
#include "numupdown.h"
#include "tft.h"
#include "touch.h"
#include "pixy.h"
#include "system.h"
#include "pixy_helper.h"

static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine

static BUTTON_STRUCT b_back;

static BUTTON_STRUCT b_servos_center;
static BUTTON_STRUCT b_servos_topleft;
static BUTTON_STRUCT b_servos_topright;
static BUTTON_STRUCT b_servos_bottomleft;
static BUTTON_STRUCT b_servos_bottomright;
static uint16_t servo_x;
static uint16_t servo_y;

static BUTTON_STRUCT b_led_off;
static BUTTON_STRUCT b_led_white;
static BUTTON_STRUCT b_led_red;
static BUTTON_STRUCT b_led_green;
static BUTTON_STRUCT b_led_blue;
static uint32_t led_color;

static uint32_t led_maxcurrent;
static NUMUPDOWN_STRUCT n_led_powerlimit;


static void b_back_cb(void* button) {
        gui_screen_back();
}

static void b_servos_center_cb(void* button) {
		if(state==idle) {
			servo_x=500;
			servo_y=500;
			state=update_servos;
		}
}

static void b_servos_topleft_cb(void* button) {
		if(state==idle) {
			servo_x=0;
			servo_y=0;
			state=update_servos;
		}
}

static void b_servos_topright_cb(void* button) {
		if(state==idle) {
			servo_x=1000;
			servo_y=0;
			state=update_servos;
		}
}

static void b_servos_bottomleft_cb(void* button) {
		if(state==idle) {
			servo_x=0;
			servo_y=1000;
			state=update_servos;
		}
}

static void b_servos_bottomright_cb(void* button) {
		if(state==idle) {
			servo_x=1000;
			servo_y=1000;
			state=update_servos;
		}
}

static void b_led_off_cb(void* button) {
		if(state==idle) {
			led_color=0x000000;
			state=update_ledcolor;
		}
}

static void b_led_white_cb(void* button) {
		if(state==idle) {
			led_color=0xFFFFFF;
			state=update_ledcolor;
		}
}

static void b_led_red_cb(void* button) {
		if(state==idle) {
			led_color=0xFF0000;
			state=update_ledcolor;
		}
}

static void b_led_green_cb(void* button) {
		if(state==idle) {
			led_color=0x00FF00;
			state=update_ledcolor;
		}
}

static void b_led_blue_cb(void* button) {
		if(state==idle) {
			led_color=0x0000FF;
			state=update_ledcolor;
		}
}

static void n_led_powerlimit_cb(void* numupdown, int16_t value) {
	if(state==idle) {
		led_maxcurrent=value;
		state=update_ledcurrent;
	}
}

static void enter(void* screen) {
	tft_clear(WHITE);
	
	//Back button
	b_back.base.x1=10; //Start X of Button
	b_back.base.y1=210; //Start Y of Button
	b_back.base.x2=AUTO; //Auto Calculate X2 with String Width
	b_back.base.y2=AUTO; //Auto Calculate Y2 with String Height
	b_back.txtcolor=WHITE; //Set foreground color
	b_back.bgcolor=HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
	b_back.font=0; //Select Font
	b_back.text="Back"; //Set Text (For formatted strings take sprintf)
	b_back.callback=b_back_cb; //Call b_back_cb as Callback
	gui_button_add(&b_back); //Register Button (and run the callback from now on)


	//Servo stuff
	#define SERVO_BUTTON_Y 10
	#define SERVO_BUTTON_SPACING 5
	tft_print_line(5,SERVO_BUTTON_Y,BLACK,TRANSPARENT,0,"Servos:");

	b_servos_center.base.x1=55;
	b_servos_center.base.y1=SERVO_BUTTON_Y-3;
	b_servos_center.base.x2=AUTO;
	b_servos_center.base.y2=AUTO;
	b_servos_center.txtcolor=WHITE;
	b_servos_center.bgcolor=HEX(0xAE1010);
	b_servos_center.font=0;
	b_servos_center.text="Center";
	b_servos_center.callback=b_servos_center_cb;
	gui_button_add(&b_servos_center);

	b_servos_topleft.base.x1=b_servos_center.base.x2+SERVO_BUTTON_SPACING;
	b_servos_topleft.base.y1=SERVO_BUTTON_Y-3;
	b_servos_topleft.base.x2=AUTO;
	b_servos_topleft.base.y2=AUTO;
	b_servos_topleft.txtcolor=WHITE;
	b_servos_topleft.bgcolor=HEX(0xAE1010);
	b_servos_topleft.font=0;
	b_servos_topleft.text="ToLe";
	b_servos_topleft.callback=b_servos_topleft_cb;
	gui_button_add(&b_servos_topleft);

	b_servos_topright.base.x1=b_servos_topleft.base.x2+SERVO_BUTTON_SPACING;
	b_servos_topright.base.y1=SERVO_BUTTON_Y-3;
	b_servos_topright.base.x2=AUTO;
	b_servos_topright.base.y2=AUTO;
	b_servos_topright.txtcolor=WHITE;
	b_servos_topright.bgcolor=HEX(0xAE1010);
	b_servos_topright.font=0;
	b_servos_topright.text="ToRi";
	b_servos_topright.callback=b_servos_topright_cb;
	gui_button_add(&b_servos_topright);

	b_servos_bottomleft.base.x1=b_servos_topright.base.x2+SERVO_BUTTON_SPACING;
	b_servos_bottomleft.base.y1=SERVO_BUTTON_Y-3;
	b_servos_bottomleft.base.x2=AUTO;
	b_servos_bottomleft.base.y2=AUTO;
	b_servos_bottomleft.txtcolor=WHITE;
	b_servos_bottomleft.bgcolor=HEX(0xAE1010);
	b_servos_bottomleft.font=0;
	b_servos_bottomleft.text="BoLe";
	b_servos_bottomleft.callback=b_servos_bottomleft_cb;
	gui_button_add(&b_servos_bottomleft);

	b_servos_bottomright.base.x1=b_servos_bottomleft.base.x2+SERVO_BUTTON_SPACING;
	b_servos_bottomright.base.y1=SERVO_BUTTON_Y-3;
	b_servos_bottomright.base.x2=AUTO;
	b_servos_bottomright.base.y2=AUTO;
	b_servos_bottomright.txtcolor=WHITE;
	b_servos_bottomright.bgcolor=HEX(0xAE1010);
	b_servos_bottomright.font=0;
	b_servos_bottomright.text="BoRi";
	b_servos_bottomright.callback=b_servos_bottomright_cb;
	gui_button_add(&b_servos_bottomright);

	//Led Color stuff
	#define LED_COLOR_BUTTON_Y 35
	#define LED_COLOR_BUTTON_SPACING 5
	tft_print_line(5,LED_COLOR_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Color:");

	b_led_off.base.x1=85;
	b_led_off.base.y1=LED_COLOR_BUTTON_Y-3;
	b_led_off.base.x2=AUTO;
	b_led_off.base.y2=AUTO;
	b_led_off.txtcolor=WHITE;
	b_led_off.bgcolor=BLACK;
	b_led_off.font=0;
	b_led_off.text="Off";
	b_led_off.callback=b_led_off_cb;
	gui_button_add(&b_led_off);

	b_led_white.base.x1=b_led_off.base.x2+LED_COLOR_BUTTON_SPACING;
	b_led_white.base.y1=LED_COLOR_BUTTON_Y-3;
	b_led_white.base.x2=AUTO;
	b_led_white.base.y2=AUTO;
	b_led_white.txtcolor=BLACK;
	b_led_white.bgcolor=HEX(0xEEEEEE);
	b_led_white.font=0;
	b_led_white.text="White";
	b_led_white.callback=b_led_white_cb;
	gui_button_add(&b_led_white);

	b_led_red.base.x1=b_led_white.base.x2+LED_COLOR_BUTTON_SPACING;
	b_led_red.base.y1=LED_COLOR_BUTTON_Y-3;
	b_led_red.base.x2=AUTO;
	b_led_red.base.y2=AUTO;
	b_led_red.txtcolor=WHITE;
	b_led_red.bgcolor=HEX(0xEE0000);
	b_led_red.font=0;
	b_led_red.text="Red";
	b_led_red.callback=b_led_red_cb;
	gui_button_add(&b_led_red);

	b_led_green.base.x1=b_led_red.base.x2+LED_COLOR_BUTTON_SPACING;
	b_led_green.base.y1=LED_COLOR_BUTTON_Y-3;
	b_led_green.base.x2=AUTO;
	b_led_green.base.y2=AUTO;
	b_led_green.txtcolor=WHITE;
	b_led_green.bgcolor=HEX(0x00EE00);
	b_led_green.font=0;
	b_led_green.text="Green";
	b_led_green.callback=b_led_green_cb;
	gui_button_add(&b_led_green);

	b_led_blue.base.x1=b_led_green.base.x2+LED_COLOR_BUTTON_SPACING;
	b_led_blue.base.y1=LED_COLOR_BUTTON_Y-3;
	b_led_blue.base.x2=AUTO;
	b_led_blue.base.y2=AUTO;
	b_led_blue.txtcolor=WHITE;
	b_led_blue.bgcolor=HEX(0x0000EE);
	b_led_blue.font=0;
	b_led_blue.text="Blue";
	b_led_blue.callback=b_led_blue_cb;
	gui_button_add(&b_led_blue);

	//Led MaxPower stuff
	#define LED_POWER_BUTTON_Y 70
	tft_print_line(5,LED_POWER_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Maximum Current:");

	//Num up down test
	n_led_powerlimit.x=160;
	n_led_powerlimit.y=LED_POWER_BUTTON_Y-7;
	n_led_powerlimit.fgcolor=WHITE;
	n_led_powerlimit.value = 10;
	n_led_powerlimit.max=40;
	n_led_powerlimit.min =0;
	n_led_powerlimit.callback=n_led_powerlimit_cb;
	//gui_numupdown_add(&n_led_powerlimit);



	state=detecting;
}

static void leave(void* screen) {
	gui_button_remove(&b_back);
	gui_button_remove(&b_servos_center);
	gui_button_remove(&b_servos_topleft);
	gui_button_remove(&b_servos_topright);
	gui_button_remove(&b_servos_bottomleft);
	gui_button_remove(&b_servos_bottomright);
	gui_button_remove(&b_led_off);
	gui_button_remove(&b_led_white);
	gui_button_remove(&b_led_red);
	gui_button_remove(&b_led_green);
	gui_button_remove(&b_led_blue);
	//gui_numupdown_remove(&n_led_powerlimit);

}


static void update(void* screen) {
	switch(state) {
		case detecting: //Detecting State: Where we try to connect to the pixy
			if(pixy_init()==0) { //Pixy connection ok
				int32_t response;
				int return_value;
				return_value = pixy_command("stop", END_OUT_ARGS,  &response, END_IN_ARGS);
				pixy_led_set_max_current(10);

				state = idle; //Go to next state
			}
			break;
		case idle:
			pixy_service();
		break;
		case update_servos:
			pixy_rcs_set_position(0,servo_x);
			pixy_rcs_set_position(1,servo_y);
			state = idle;
			break;

		case update_ledcolor:
		{
			int32_t response;
			int return_value;
			return_value = pixy_command("led_set", INT32(led_color), END_OUT_ARGS,  &response, END_IN_ARGS);
			state = idle;
		}
		break;

		case update_ledcurrent:
			pixy_led_set_max_current(led_maxcurrent);
			state = idle;
			break;
	}

}


static SCREEN_STRUCT screen = {
	enter,
	leave,
	update
};


SCREEN_STRUCT* get_screen_pixytest() {
	return &screen;
}



