using System;
using System.Threading;
using Microsoft.SPOT;

namespace MFConsoleApplication1
{
    public class Program
    {
        public enum MissionPhase : int
        {
            Initialize = 0,
            PreDeployment,
            PreMissionDelay,
            GotoBottom,
            DwellOnBottom,
            GotoSurface,
            Surface,
            Exit,
        }

        public struct MissionState
        {
            public static bool runMission;
            public static MissionPhase missionPhase;
            public static int profileNum;
            public static int errorCode;
        }

        public struct ConfigFile  //Eventually this will all be read from a file
        {
            public static String DGHPressurePortName = "COM3";
            public static String ElmoPortName = "COM2";
            public static String ConsolePortName = "COM1";
            public static double[] depthTable = { 5.0, 0.0 }; //in dBar
            public static int preMissionDelayMinutes = 1;
            public static int dwellAtDepthMinutes = 3;
            public static int descendTimeoutMinutes = 10;
            public static int ascendTimeoutMinutes = 10;
        }

        public static AutoResetEvent wakeStateMachineEvent = new AutoResetEvent(false);
        
        public static String DateTimeNowMilliSec()
        {
            DateTime timeNow = DateTime.Now;
            String temp = timeNow.ToString() + "." + timeNow.Millisecond.ToString();
            return (temp);
        }

        public static void Main()
        {
            Debug.Print("\r\nStarting Program ...\r\n");

            String consoleCmd;

            MissionState.missionPhase = MissionPhase.Initialize;
            MissionState.runMission = true;
            MissionState.profileNum = 0;

            while (MissionState.runMission)
            {

                switch (MissionState.missionPhase)
                {
                    case (MissionPhase.Initialize):
                        /* CPF sitting on deck
                         * Just powered up
                         * Run whatever initialize stuff needs to be done
                         */
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Initialize Phase");

                        DGHPressure.init(ConfigFile.DGHPressurePortName);
                        Elmo.initElmo(ConfigFile.ElmoPortName);
                        Console.initConsole(ConfigFile.ConsolePortName);

                        MissionState.missionPhase = MissionPhase.PreDeployment;
                        break;
                    case (MissionPhase.PreDeployment):
                        /* CPF still sitting on deck
                         * Run pre-deployment check out
                         * telemeter the results up
                         */
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting PreDeployment Phase");
       
                        //Eventually wait for command to transition state to Pre-mission delay phase
       
                        MissionState.missionPhase = MissionPhase.PreMissionDelay;
                        break;
                    case (MissionPhase.PreMissionDelay):
                        /* Heave the CPF over the side
                         * wait for a command to start the mission
                         * or exit the mission
                         */
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting PreMissionDelay Phase");

                        consoleCmd = Console.readCommand();
                        switch (consoleCmd)
                        {
                            case (Console.BeginCmd):
                                MissionState.missionPhase = MissionPhase.GotoBottom;
                                Thread.Sleep(ConfigFile.preMissionDelayMinutes);  //This probably won't be in real mission, it just gives me time to get the CPF off the crane hook
                                break;
                            case (Console.ExitCmd):
                                MissionState.missionPhase = MissionPhase.Exit;
                                break;
                            default:
                                Console.InvalidCommandReceived("Only BG and EX commands are valid at this point\r\n");
                                break;
                        }
                        break;
                    case (MissionPhase.GotoBottom):
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Descend Phase");

                        MissionState.errorCode = BuoyancyControl.GotoDepth(ConfigFile.depthTable[MissionState.profileNum]);
                        if (wakeStateMachineEvent.WaitOne(600000, false)) /* waiting for notification, 10 minute timeout, eventually timeout
                                                                           * should be calculated based on profile rate and desired depth
                                                                           */
                        {
                            EngrLog.writeEvent(Program.DateTimeNowMilliSec() + " ,Returned from GotoBottom GotoDepth");
                            MissionState.missionPhase = MissionPhase.DwellOnBottom;
                        }
                        else
                        {
                            EngrLog.writeEvent(Program.DateTimeNowMilliSec() + " ,Timed out waiting for GotoBottom GotoDepth");
                            //Eventually deal with error(s)
                        }
                    
                        break;
                    case (MissionPhase.DwellOnBottom):
                        //Hold depth
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Dwell At Depth Phase");
                        Thread.Sleep(ConfigFile.dwellAtDepthMinutes);  /*eventually this needs to do a lot more like check to make 
                                                                        * sure we're staying on the bottom and adjust buoyancy as
                                                                        * necessary
                                                                        */
                        MissionState.missionPhase = MissionPhase.GotoSurface;
                        break;
                    case (MissionPhase.GotoSurface):
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Ascend Phase");

                        MissionState.errorCode = BuoyancyControl.GotoDepth(0);
                        if (wakeStateMachineEvent.WaitOne(600000, false)) /*waiting for notification, 10 minute timeout, eventually timeout
                                                                           * should be calculated based on profile rate and desired depth
                                                                           */
                        {
                            EngrLog.writeEvent(Program.DateTimeNowMilliSec() + " ,Returned from GotoBottom GotoDepth");
                            MissionState.missionPhase = MissionPhase.Surface;
                        }
                        else
                        {
                            EngrLog.writeEvent(Program.DateTimeNowMilliSec() + " ,Timed out waiting for GotoBottom GotoDepth");
                            //Eventually deal with error(s)
                        }
    
                        break;
                    case (MissionPhase.Surface):
                        // eventually this is where the Iridium/Wifi will happen
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Surface Interval Phase");

                        consoleCmd = Console.readCommand();
                        switch (consoleCmd)
                        {
                            case (Console.BeginCmd):
                                MissionState.missionPhase = MissionPhase.GotoBottom;
                                Thread.Sleep(ConfigFile.preMissionDelayMinutes);  //This probably won't be in real mission, it just gives me time to get the CPF off the crane hook
                                break;
                            case (Console.UploadCmd):
                                /* If data exists, send it otherwise
                                 * Send "Pre Deployment Phase No Data Yet message"
                                 * Wait for next command
                                 */
                                EngrLog.uploadData();
                                MissionState.missionPhase = MissionPhase.Surface;
                                break;
                            case (Console.ExitCmd):
                                MissionState.missionPhase = MissionPhase.Exit;
                                break;
                            default:
                                Console.InvalidCommandReceived("Only BG, UP and EX commands are valid at this point\r\n");
                                break;
                        }
                        break;
                    case (MissionPhase.Exit):
                        //Exit the program
                        EngrLog.writeEvent(DateTimeNowMilliSec() + " ,Starting Exit Phase");
                        break;
                } //end switch
            } //end run mission
        } //end main
    } //end Class program
} //end Namespace