using System;
using Microsoft.SPOT;

using System.Text;

namespace abstractState
{
    public class Descend : StateBase
    {
        public Descend(string name)
        {
            stateName.Clear();
            stateName.Append(name);

            ECTimeout = 10 * 1000;      //seconds
        }

        private enum Action : int
        {
            stateEntry = 0,
            setPV,
            lastAction
        }
        private Action currentAction = (Action)0;

        private static int pressureTableNum = 0;
        public override int doStateActions()
        {
            int returnValue = 0;

            switch (currentAction)
            {
                case (Action.stateEntry):
                    returnValue = stateEntry();

                    if (returnValue >= 0)
                        currentAction = (Action)returnValue;
                    else
                        Debug.Print("Error in Descend State Entry");
                    break;
                case (Action.setPV):
                    returnValue = setPV();

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

                    break;
            }
            return (returnValue);
        }

        public override Program.CPFStates checkEvents()
        {
            return (Program.CPFStates.descend);
        }

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

        private static double depthSetPoint = double.NaN;
        private static double PVSetPoint = 0.0;
        private static double absPVSetPoint = 0.0;  //absolute value of PVSetPoint
 
        private static readonly StringBuilder profileStateNone = new StringBuilder("None");
        private static readonly StringBuilder profileStateInBand = new StringBuilder("In Band");
        private static readonly StringBuilder profileStateOuterBand = new StringBuilder("Outer Band");
        private static readonly StringBuilder profileStateOutsideBand = new StringBuilder("Outside Band");
        private static StringBuilder profileState = new StringBuilder(32);
 
        private static TimeSpan parkTime;
        
        private static int stateEntry()
        {
            basicStateEntry();

            SV.parked = false;

            pressureTableNum = 0;
         //   depthSetPoint = Mission.descendTable[pressureTableNum].depth;
         //   parkTime = Mission.descendTable[pressureTableNum].parkTime;

            BuoyancyControl.resetPVPID();
            SV.runPVPID = true;
            
            profileState.Clear();
            profileState.Append(profileStateNone);
            //BTConsole.BTSend = false;

            return ((int)Action.setPV);
        }

        private static int setPV()
        {
            //TODO: should these 2 assignment and PVSetPoint be moved up into state entry block and then repeated after pressure table num increments?
            depthSetPoint = Mission.descendTable[pressureTableNum].depth;
            parkTime = Mission.descendTable[pressureTableNum].parkTime;

            //If we're not parking at target depth
            if (parkTime == TimeSpan.Zero)
            {
                //keep going
                if (SV.pressure < depthSetPoint)
                {
                  //  PVSetPoint = -1.0 * System.Math.Abs(Mission.descendTable[pressureTableNum].PV);
                    SV.runPVPID = true;
                }
                //until we pass the target depth
                if (SV.pressure >= depthSetPoint)
                {
              //      InstrumentHandler.sampleInstruments(pressureTableNum);
                    pressureTableNum = pressureTableNum + 1;
                }
            }
            //Else if we are parking at this depth check to see which of the depth bands we're in
            // and calculate the new PV for the correct band
            else if (parkTime > TimeSpan.Zero)
            {
           //     absPVSetPoint = System.Math.Abs(Mission.descendTable[pressureTableNum].PV);
           //     PVSetPoint = checkDepthBand(pressure, depthSetPoint, absPVSetPoint);
            }

            return ((int)Action.setPV);
        }

    }

    public class Ascend : StateBase
    {
        public Ascend(string name)
        {
            stateName.Clear();
            stateName.Append(name);

            ECTimeout = 20000;
        }

        private enum Action : int
        {
            stateEntry = 0,
            lastAction
        }
        private Action currentAction = (Action)0;

        public override int doStateActions()
        {
            return (0);
        }

        public override Program.CPFStates checkEvents()
        {
            return (Program.CPFStates.descend);
        }

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

    public class Utilities
    {
        public static double checkDepthBand()
        {
            return (double.NaN);
        }
    }
}