/****************************************************************************/
/* Copyright (c) 2003 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : FastCatServer.cc                                              */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 12/17/2003                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#include <process.h>

#include <time.h>
#include "adam6017Server.h"
#include "Syslog.h"

Adam6017Server::Adam6017Server(const char *name, SerialParameters *serialParams)
  : AdamIF_SK(name)
{
  _serialParams = serialParams;
  _output = new adam6017Output(SharedData::ReadWrite);
  _output->data.deviceReady = False;

  _output->write();
}


Adam6017Server::~Adam6017Server()
{
  delete _output;
}


void Adam6017Server::name(DeviceIF::Name name)
{
  strcpy(name, "adam6017");
}


void Adam6017Server::serialNumber(DeviceIF::Name number)
{
  strcpy(number, "XXX");
}


DeviceIF::Status Adam6017Server::initialize()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}


DeviceIF::Status Adam6017Server::powerOn()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}


DeviceIF::Status Adam6017Server::powerOff()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}


DeviceIF::Status Adam6017Server::status()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}


DeviceIF::Status Adam6017Server::dataLoggingOn()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}


DeviceIF::Status Adam6017Server::dataLoggingOff()
{
  // Dummy implementation for now
  return DeviceIF::Ok;
}

Boolean Adam6017Server::ready()
{
  _output->read();
  if (!_output->data.deviceReady)
    return False;
  else
    return True;
}

DeviceIF::Status Adam6017Server::get(TimeIF::TimeSpec *sampleTime,
				     unsigned short *v1,
				     unsigned short *v2,
				     unsigned short *v3,
				     unsigned short *v4,
				     unsigned short *v5,
				     unsigned short *v6,
				     unsigned short *v7,
				     unsigned short *v8)
{
  Boolean debug = False;

  if (!ready()) {
    dprintf("adam6017Server::get() - device NOT ready");
    return DeviceIF::Error;
  }

  sampleTime->seconds = (long)_output->data.sampleTime.tv_sec;
  sampleTime->nanoSeconds = (long)_output->data.sampleTime.tv_nsec;
  *v1 = _output->data.voltages[0];
  *v2 = _output->data.voltages[1];
  *v3 = _output->data.voltages[2];
  *v4 = _output->data.voltages[3];
  *v5 = _output->data.voltages[4];
  *v6 = _output->data.voltages[5];
  *v7 = _output->data.voltages[6];
  *v8 = _output->data.voltages[7];
   
  return DeviceIF::Ok;
}


int Adam6017Server::spawnAuxTasks()
{
  char *program = "adam6017Driver";
  char errorBuf[256];
  char buf[256];
 
  pid_t pid;
 
  switch ((pid = fork())) {
     
  case 0:
    // In child
    // Execute server program

    execlp(program, program, "-serial", _serialParams->string(), 0);

    sprintf(errorBuf, 
	    "Task::spawnServer() - execlp() of \"%s\" failed", program);

    perror(errorBuf);
 
    break;

  case -1:
    perror("Task::spawnServer() - fork() failed");
    return -1;
  }

  return 0;
}