/****************************************************************************/
/* 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 "FastCatServer.h"
#include "Syslog.h"

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

  _output->write();
}


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


void FastCatServer::name(DeviceIF::Name name)
{
  strcpy(name, "FastCat");
}


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


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


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


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


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


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


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

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

DeviceIF::Status FastCatServer::get_CTD_data(float *cond,
					     float *temp,
					     float *depth,
					     TimeIF::TimeSpec *condSampleTime,
					     TimeIF::TimeSpec *tempSampleTime,
					     float *salinity,
					     float *velocity,
					     long *tcounts,
					     float *cfreq,
					     long *pcounts,
					     float *presCompVoltage)
{
  Boolean debug = False;

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

  dprintf("FastCatServer::get_ctd_data() - device ready");
  *cond = _output->data.conductivity;
  *temp = _output->data.temperature;
  *depth = _output->data.pressure; //unused ? JR
  condSampleTime->seconds = (long)_output->data.cond_updateTime.tv_sec;
  condSampleTime->nanoSeconds = (long)_output->data.cond_updateTime.tv_nsec;
  tempSampleTime->seconds = (long)_output->data.temp_updateTime.tv_sec;
  tempSampleTime->nanoSeconds = (long)_output->data.temp_updateTime.tv_nsec;
  *salinity = _output->data.salinity;
  *velocity = _output->data.sound_velocity;
  *tcounts = _output->data.tcounts;
  *cfreq = _output->data.cfreq;
  *pcounts = _output->data.pcounts;
  *presCompVoltage = _output->data.pvolts; 
  return DeviceIF::Ok;
}


DeviceIF::Status FastCatServer::conductivity(float *cond, float *cfreq,
					     TimeIF::TimeSpec *sampleTime)
{
  _output->read();
  if (!_output->data.deviceReady)
    return DeviceIF::Error;

  *cond = _output->data.conductivity;
  *cfreq = _output->data.cfreq;
  sampleTime->seconds = (long)_output->data.cond_updateTime.tv_sec;
  sampleTime->nanoSeconds = (long)_output->data.cond_updateTime.tv_nsec;

  return DeviceIF::Ok;
}


DeviceIF::Status FastCatServer::temperature(float *temp, long *tcounts,
					    TimeIF::TimeSpec *sampleTime)
{
  _output->read();
  if (!_output->data.deviceReady)
    return DeviceIF::Error;

  *temp = _output->data.temperature;
  *tcounts = _output->data.tcounts;
  sampleTime->seconds = (long)_output->data.temp_updateTime.tv_sec;
  sampleTime->nanoSeconds = (long)_output->data.temp_updateTime.tv_nsec;

  return DeviceIF::Ok;
}

DeviceIF::Status FastCatServer::salinity(float *sal, TimeIF::TimeSpec *sampleTime)
{
  _output->read();
  if (!_output->data.deviceReady)
    return DeviceIF::Error;

  *sal = _output->data.salinity;
  sampleTime->seconds = (long)_output->data.cond_updateTime.tv_sec;
  sampleTime->nanoSeconds = (long)_output->data.cond_updateTime.tv_nsec;

  return DeviceIF::Ok;
}

DeviceIF::Status FastCatServer::soundVelocity(float *vel, TimeIF::TimeSpec *sampleTime)
{
  _output->read();
  if (!_output->data.deviceReady)
    return DeviceIF::Error;

  *vel = _output->data.sound_velocity;
  sampleTime->seconds = (long)_output->data.cond_updateTime.tv_sec;
  sampleTime->nanoSeconds = (long)_output->data.cond_updateTime.tv_nsec;

  return DeviceIF::Ok;
}


int FastCatServer::spawnAuxTasks()
{
  char *program = "fastcatDriver";
  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;
}