using System;
using Microsoft.SPOT;

using System.Text;
using System.Threading;

namespace abstractState
{
    public class InitMission : StateBase
    {
        private enum Action : int
        {
            stateEntry = 0,
            moveBellowsInsideLimits,
            checkBellowsMovement,
            sendSBE41_DS,
            sendOptodeGetAll,
            initFLBB,
            lastAction
        }
        private Action currentAction = Action.stateEntry;

        public InitMission(string name)
        {
            stateName.Clear();
            stateName.Append(name);

            ECTimeout = 50000;
        }

        public override int doStateActions()
        {
            int returnValue = 0;

            //It would be nice to figure out a way to make this a loop.  Delegates would work but they require a new.
            switch (currentAction)
            {
                case(Action.stateEntry):
                    Debug.Print("InitMission State Entry");
                    basicStateEntry();

                    //These should probably be inside class constructor
                    //sbConsoleCommand.Clear();
                    //sbConsoleCommand.Append("NONE");

                    returnValue = 0;
                    currentAction = Action.moveBellowsInsideLimits;
                    break;
                case (Action.moveBellowsInsideLimits):
                    returnValue = moveBellowsInsideLimits();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in InitMission moveBellowsInsideLimits");

                    break;
                case (Action.checkBellowsMovement):
                    returnValue = checkBellowsMovement();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in InitMission checkBellowsMovement");

                    break;
                case (Action.sendSBE41_DS):
                    returnValue = sendSBE41_DS();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in InitMission sendSBE41_DS");

                    break;
                case (Action.sendOptodeGetAll):
                    returnValue = sendOptodeGetAll();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in InitMission sendOptodeGetAll");

                    break;
                case (Action.initFLBB):
                    returnValue = initFLBB();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in InitMission initFLBB");

                    break;
                case (Action.lastAction):
                    break;
            }
            return (returnValue);
        }

        public override Program.CPFStates checkEvents()
        {
            if (currentAction == Action.lastAction)
                return (Program.CPFStates.initProfile);
            else
                return (Program.CPFStates.initMission);
        }

        public override Program.CPFStates doTimeoutAction()
        {
            return (Program.CPFStates.initProfile);
        }
    

        private static int moveBellowsInsideLimits()
        {
            //Just in case the bellows was outside the limits, put it inside the limits
            if (SV.bellowsPosition > (BuoyancyControl.bellowsUpperLimit - 2.0))
            {
                sbTemp.Clear();
                sbTemp.Append("Retracting bellows inside limits");
                //EngrLogger.writeToColumns(sbTemp);

                if (!Elmo.retracting)
                    Elmo.retractBellows(10000);

                return ((int)Action.moveBellowsInsideLimits);
            }
            else if (SV.bellowsPosition < (BuoyancyControl.bellowsLowerLimit + 2.0))
            {
                sbTemp.Clear();
                sbTemp.Append("Extending bellows inside limits");
                //EngrLogger.writeToColumns(sbTemp);

                if (!Elmo.extending)
                    Elmo.extendBellows(10000);

                return ((int)Action.moveBellowsInsideLimits);
            }
            else
            {
                Elmo.stopMotor();
                Debug.Print("Bellows inside limits");
                return ((int)Action.checkBellowsMovement);
            }
        }

        //this is just for initial testing
        private static int callCount = 0;
        private static int checkBellowsMovement()
        {
            Debug.Print("Checking bellows movement.");
            if(callCount > 10)
            {
                callCount = 0;
                return ((int)Action.sendSBE41_DS);
            } else
            {
                callCount++;
                return((int)Action.checkBellowsMovement);
            }
        }

        private static int sendSBE41_DS()
        {
            Debug.Print("Sending SBE41 ds command.");
            return ((int)Action.sendOptodeGetAll);
        }

        private static int sendOptodeGetAll()
        {
            Debug.Print("Sending Optode GetALL command.");
            return ((int)Action.initFLBB);
        }

        private static int initFLBB()
        {
            Debug.Print("Initializing FLBB.");
            return ((int)Action.lastAction);
        }
    }
}