using System;
using Microsoft.SPOT;

using Microsoft.SPOT.Hardware;

using System.Threading;
using System.IO.Ports;
using System.Text;

namespace CPF
{
    public static class EVK7GPS
    {
        public static SerialPort evk7Port = new SerialPort("COM5", 19200, Parity.None, 8, StopBits.One);

        private static object evk7Lock = new object();

        private static StructQueue.qStruct qS = new StructQueue.qStruct();

        //     private static byte[] evk7Chars = new byte[256];
               private static StringBuilder sbTemp = new StringBuilder(128);
       // GM Commented out 2015Jun24 private static I2CDevice.Configuration evk7I2CConfig = new I2CDevice.Configuration(0x42, 100);
        //     private static I2CDevice.I2CTransaction[] numBytesXAction = new I2CDevice.I2CTransaction[2];
        //     private static I2CDevice.I2CTransaction[] readFFXAction = new I2CDevice.I2CTransaction[2];
        //      private static byte[] numBytesAddr = new byte[2] { 0xFD, 0xFE };
        //      private static byte[] numBytesValue = new byte[2];
        //     private static byte[] ffAddr = new byte[1] { 0xFF };
        //    private static byte[] ffValue = new byte[1];
        private static int evk7CharsIndex = 0;
        private static int numBytes = 0;

        //public static byte[] readI2C()
        //{
        //    Program.g400I2C.Config = evk7I2CConfig;

        //    //Create I2C transaction to read number of bytes available
        //    numBytesXAction[0] = I2CDevice.CreateWriteTransaction(numBytesAddr);
        //    numBytesXAction[1] = I2CDevice.CreateReadTransaction(numBytesValue);

        //    Array.Clear(numBytesValue, 0, numBytesValue.Length);
        //    Array.Clear(evk7Chars, 0, evk7Chars.Length);

        //    for (int i = 0; i < 10; i++)
        //    {
        //        if (Program.g400I2C.Execute(numBytesXAction, 1000) == 0)
        //        {
        //            sbTemp.Clear();
        //            sbTemp.Append("ERROR: GPS I2C bytes available transaction");
        //            Array.Clear(qS.byteArray, 0, qS.byteArray.Length);
        //            Array.Copy(UTF8Encoding.UTF8.GetBytes(sbTemp.ToString()), qS.byteArray, sbTemp.Length);
        //            qS.qRecordType = StructQueue.QRecordType.EVK7;
        //            qS.errorCode = -1;
        //            lock (evk7Lock) { Program.sQueue.Enqueue(qS); }

        //            numBytes = 0;
        //        }
        //        else
        //        {
        //            numBytes = (256 * (int)numBytesValue[0]) + numBytesValue[1];
        //            // Debug.Print("Register value: " + numBytesValue[0].ToString() + " " + numBytesValue[1]);
        //            if ((numBytes > 0) && (numBytes < 0xFFFF))
        //                break;
        //        }
        //        Thread.Sleep(500);
        //    }

        //    //If we've got bytes in the GPS buffer
        //    if ((numBytes > 0) && (numBytes < 0xFFFF))
        //    {
        //        //Just in case all the bytes aren't in the GPS buffer
        //        Thread.Sleep(200);

        //        // Create I2C transaction to get buffer FF value
        //        readFFXAction[0] = I2CDevice.CreateWriteTransaction(ffAddr);
        //        readFFXAction[1] = I2CDevice.CreateReadTransaction(ffValue);

        //        evk7CharsIndex = 0;
        //        //Read for no more than 1 second
        //        for (int i = 0; i < 1000; i++)
        //        {
        //            //Read the FF register
        //            if (Program.g400I2C.Execute(readFFXAction, 1000) == 0)
        //            {
        //                sbTemp.Clear();
        //                sbTemp.Append("ERROR: GPS I2C readFF transaction");
        //                Array.Clear(qS.byteArray, 0, qS.byteArray.Length);
        //                Array.Copy(UTF8Encoding.UTF8.GetBytes(sbTemp.ToString()), qS.byteArray, sbTemp.Length);
        //                qS.qRecordType = StructQueue.QRecordType.EVK7;
        //                qS.errorCode = -1;
        //                lock (evk7Lock) { Program.sQueue.Enqueue(qS); }
        //            }
        //            else
        //            {
        //                //Wait for the '$' STX character
        //                if (evk7CharsIndex == 0)
        //                {
        //                    if (ffValue[0] == 36)
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                    }
        //                }
        //                //After we've got the STX character
        //                else
        //                {
        //                    //Break out of loop when LF ETX shows up 
        //                    if (ffValue[0] == 10)
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                        break;
        //                    }
        //                    else
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                    }
        //                    //Break and deal with error if we don't get a LF character
        //                    if (evk7CharsIndex >= evk7Chars.Length - 5)
        //                    {
        //                        //TODO: Increment error counter
        //                        break;
        //                    }
        //                }
        //            }
        //        }
        //        Thread.Sleep(1);
        //    }

            //qS.timeStamp = DateTime.Now;
            //qS.state = Program.CPFState;

            //sbTemp.Clear();
            //sbTemp.Append("GPS I2C read = ");
            //sbTemp.Append(UTF8Encoding.UTF8.GetChars(evk7Chars));
            ////Debug.Print(sbTemp.ToString());

            //Array.Clear(qS.byteArray, 0, qS.byteArray.Length);
            //Array.Copy(evk7Chars, qS.byteArray, evk7CharsIndex);
            //qS.qRecordType = StructQueue.QRecordType.EVK7;
            //qS.errorCode = 0;
            //lock (evk7Lock) { Program.sQueue.Enqueue(qS); }

            //return (evk7Chars);
       // }

        public static void init()
        {
            qS.byteArray = new byte[StructQueue.byteArrayWidth];

            evk7Port.ReadTimeout = 5000;
            evk7Port.Open();

            evk7Port.DiscardInBuffer();
            evk7Port.DiscardOutBuffer();
            evk7Port.DataReceived += new SerialDataReceivedEventHandler(evk7DataReceived);
        }

        private static byte[] txBytes = new byte[64];
        private const string evk7PUBX00Cmd = "$PUBX,00*33\r\n";
        public static void sendPUBX00()
        {
            Array.Clear(txBytes, 0, txBytes.Length);
            Array.Copy(UTF8Encoding.UTF8.GetBytes(evk7PUBX00Cmd), txBytes, evk7PUBX00Cmd.Length);
            evk7Port.Write(txBytes, 0, evk7PUBX00Cmd.Length);
        }

        private const string evk7PUBX04Cmd = "$PUBX,04*37\r\n";
        public static void sendPUBX04()
        {
            Array.Clear(txBytes, 0, txBytes.Length);
            Array.Copy(UTF8Encoding.UTF8.GetBytes(evk7PUBX04Cmd), txBytes, evk7PUBX04Cmd.Length);
            evk7Port.Write(txBytes, 0, evk7PUBX04Cmd.Length);
        }

        private static byte LF = 10;
        private static byte[] bytesRead = new byte[2048];
        private static byte[] messageBytes = new byte[2048];
        private static int messageIndex = 0;

        private static void evk7DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            int bytesToRead = 0;
            bytesToRead = evk7Port.BytesToRead;

            try
            {
                evk7Port.Read(bytesRead, 0, bytesToRead);
            }
            catch
            {
                Debug.Print("EVK7 GPS Read Exception");          //TODO do something smarter here
            }

            for (int i = 0; i < bytesToRead; i++)
            {
                messageBytes[messageIndex] = bytesRead[i];
                if (messageBytes[messageIndex] == LF)
                {
                    qS.timeStamp = DateTime.Now;
                    qS.state = Program.CPFState;

                    //sbTemp.Clear();
                    //sbTemp.Append("EVK7 Message = ");
                    //sbTemp.Append(UTF8Encoding.UTF8.GetChars(messageBytes, 0, messageIndex - 1));
                    //Debug.Print(sbTemp.ToString());

                    Array.Clear(qS.byteArray, 0, qS.byteArray.Length);
                    Array.Copy(messageBytes, qS.byteArray, messageIndex + 1);
                    qS.qRecordType = StructQueue.QRecordType.EVK7;
                    lock (evk7Lock) { Program.sQueue.Enqueue(qS); }

                    messageIndex = 0;
                    Array.Clear(messageBytes, 0, messageBytes.Length);
                }
                else
                {
                    messageIndex = messageIndex + 1;
                }
            }
        }

        private static DateTime pubx04DateTime = new DateTime(2015, 1, 1, 0, 0, 0);
        public static void setSystemTime(StringBuilder inSB)
        {
            int hour = (inSB[9] - 48) * 10 + (inSB[10] - 48);
            int minute = (inSB[11] - 48) * 10 + (inSB[12] - 48);
            int second = (inSB[13] - 48) * 10 + (inSB[14] - 48);
            int day = (inSB[19] - 48) * 10 + (inSB[20] - 48);
            int month = (inSB[21] - 48) * 10 + (inSB[22] - 48);
            int year = 2000 + (inSB[23] - 48) * 10 + (inSB[24] - 48);

            pubx04DateTime = new DateTime(year, month, day, hour, minute, second);
            Utility.SetLocalTime(pubx04DateTime);
            //Debug.Print("setSystemTime inSB" + inSB.ToString() + "  Time: "+ hour.ToString() + minute.ToString() + second.ToString() + "  Date: " +
            //                year.ToString() + month.ToString() + day.ToString());

        }

        private static I2CDevice.I2CTransaction[] cmdXaction = new I2CDevice.I2CTransaction[1];
        private static I2CDevice.I2CTransaction[] numBytesXAction = new I2CDevice.I2CTransaction[2];
        private static I2CDevice.I2CTransaction[] readFFXAction = new I2CDevice.I2CTransaction[2];

        private static byte[] numBytesAddr = new byte[2] { 0xFD, 0xFE };
        private static byte[] numBytesValue = new byte[2];
        private static byte[] evk7Chars = new byte[256];
        private static byte[] ffAddr = new byte[1] { 0xFF };
        private static byte[] ffValue = new byte[1];

        private static StringBuilder returnSB = new StringBuilder(256);

        //public static StringBuilder sendI2CCmd(string command)
        //{
        //    Program.g400I2C.Config = evk7I2CConfig;

        //    //Create I2C transaction to write command

        //    byte[] cmdByte = new byte[2];
        //    cmdByte[0] = 0xFF;

        //    byte[] cmdArray = UTF8Encoding.UTF8.GetBytes(command);

        //    cmdXaction[0] = I2CDevice.CreateWriteTransaction(cmdArray);

        //    if (Program.g400I2C.Execute(cmdXaction, 1000) == 0)
        //        Debug.Print("Error writing command array");

        //    // Debug.Print("Done sending command \r\n");

        //    //Create I2C transaction to read number of bytes available
        //    int evk7CharsIndex = 0;
        //    int numBytes = 0;

        //    numBytesXAction[0] = I2CDevice.CreateWriteTransaction(numBytesAddr);
        //    numBytesXAction[1] = I2CDevice.CreateReadTransaction(numBytesValue);

        //    Array.Clear(numBytesValue, 0, numBytesValue.Length);
        //    Array.Clear(evk7Chars, 0, evk7Chars.Length);

        //   // Debug.Print("Checking number of bytes in buffer");
        //    for (int i = 0; i < 10; i++)
        //    {
        //        if (Program.g400I2C.Execute(numBytesXAction, 1000) == 0)
        //        {
        //            Debug.Print("Failed to perform numBytes I2C transaction");
        //        }
        //        else
        //        {
        //            numBytes = (256 * (int)numBytesValue[0]) + numBytesValue[1];
        //           // Debug.Print("Register value: " + numBytesValue[0].ToString() + " " + numBytesValue[1]);
        //            if ((numBytes > 0) && (numBytes < 0xFFFF))
        //                break;
        //        }
        //        Thread.Sleep(200);
        //    }

        //    //Read address FF until message is complete
        //    if ((numBytes > 0) && (numBytes < 0xFFFF))
        //    {
        //        // Create I2C transaction to get buffer FF value
        //        readFFXAction[0] = I2CDevice.CreateWriteTransaction(ffAddr);
        //        readFFXAction[1] = I2CDevice.CreateReadTransaction(ffValue);

        //        evk7CharsIndex = 0;
        //        for (int i = 0; i < numBytes; i++)
        //        {
        //            if (Program.g400I2C.Execute(readFFXAction, 1000) == 0)
        //            {
        //                Debug.Print("Failed to perform readFF I2C transaction");
        //            }
        //            else
        //            {
        //                //Debug.Print("FF Value = " + ffValue[0].ToString() + "  " + ((char)ffValue[0]).ToString());
        //                if (evk7CharsIndex == 0)
        //                {
        //                    if (ffValue[0] == 85)   //Wait for "U" start of text character.  The $P gets lost somewhere
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                    }
        //                }
        //                else
        //                {
        //                    if (ffValue[0] == 10)
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                        break;
        //                    }
        //                    else
        //                    {
        //                        evk7Chars[evk7CharsIndex] = ffValue[0];
        //                        evk7CharsIndex = evk7CharsIndex + 1;
        //                    }
        //                }
        //                if (evk7CharsIndex >= evk7Chars.Length)
        //                    break;
        //            }
        //        }
        //    }
        //    returnSB.Clear();
        //    returnSB.Append(UTF8Encoding.UTF8.GetChars(evk7Chars));

        //    sbTemp.Clear();
        //    sbTemp.Append("GPS I2C read = ");
        //    sbTemp.Append(returnSB);
        //   // Debug.Print(sbTemp.ToString());

        //    if (command.IndexOf("PUBX,04") >= 0)
        //    {
        //    }
        //    else
        //    {
        //        qS.timeStamp = DateTime.Now;
        //        qS.state = Program.CPFState;

        //        sbTemp.Clear();
        //        sbTemp.Append("GPS I2C read = ");
        //        sbTemp.Append(UTF8Encoding.UTF8.GetChars(evk7Chars));
        //        //Debug.Print(sbTemp.ToString());

        //        Array.Clear(qS.byteArray, 0, qS.byteArray.Length);
        //        Array.Copy(evk7Chars, qS.byteArray, evk7CharsIndex);
        //        qS.qRecordType = StructQueue.QRecordType.EVK7;
        //        qS.errorCode = 0;
        //        lock (evk7Lock) { Program.sQueue.Enqueue(qS); }
        //    }

        //    return (returnSB);
        //}

    }
}