using System;
using Microsoft.SPOT;
using Microsoft.VisualStudio.TestTools.UnitTesting;
using CPF;

using System.Text;
using System.Threading;
using HWModules;

namespace CPFUnitTests
{
    [TestClass]
    public class PumpMotorUnitTests
    {
        [TestMethod]
        public void IncreaseBuoyancy()
        {

            Init();

            double innerBellowsPosition = double.NaN;

            EnergyMonitorPump emPump = EnergyMonitorPump.Instance;
            EnergyMonitorLTC2946.EM_VandI emData;

            StringBuilder sbTemp = new StringBuilder(128);
            StringBuilder tab = new StringBuilder("\t");

            sbTemp.Clear();
            sbTemp.Append("Time of Day\t\tInner Bellows\tBattery\t\tBattery");
            sbTemp.Append("\r\n\t\t\t\tPosition (mm)\tVoltage\t\tCurrent(mA)");
            EngrLogger.writeToColumns(sbTemp.ToString());

            int jogVelocity = 200000;
            int numLoops = 500;

            EngrLogger.writeToColumns("Increasing Buoyancy at " + jogVelocity.ToString() + " CPS for " + numLoops.ToString() + " loops");
            buoyancyEngine.openMV();
            Thread.Sleep(1000);
            buoyancyEngine.increaseBuoyancy(jogVelocity);
  
            for (int i = 0; i < numLoops; i++)
            {
                innerBellowsPosition = buoyancyEngine.getBellowsPositionStringPot();
                emData = emPump.getVoltsAndMilliAmps();
                //buoyancyEngine.getMotorStatus();

                sbTemp.Clear();
                sbTemp.Append(i.ToString());
                sbTemp.Append(tab);
                sbTemp.Append(DateTime.Now.ToString("HH:mm:ss.fff"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(innerBellowsPosition.ToString("F2"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(emData.voltage.ToString("F3"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(emData.current.ToString("F3"));
                EngrLogger.writeToColumns(sbTemp);

                Thread.Sleep(1000);
            }

            buoyancyEngine.stopMotorAndCloseValve();
        }

        [TestMethod]
        public void DecreaseBuoyancy()
        {

            Init();

            double innerBellowsPosition = double.NaN;

            EnergyMonitorPump emPump = EnergyMonitorPump.Instance;
            EnergyMonitorLTC2946.EM_VandI emData;

            StringBuilder sbTemp = new StringBuilder(128);
            StringBuilder tab = new StringBuilder("\t");

            sbTemp.Clear();
            sbTemp.Append("Time of Day\t\tInner Bellows\tBattery\t\tBattery");
            sbTemp.Append("\r\n\t\t\t\tPosition (mm)\tVoltage\t\tCurrent(mA)");
            EngrLogger.writeToColumns(sbTemp.ToString());

            int jogVelocity = 200000;
            int numLoops = 500;

            EngrLogger.writeToColumns("Decreasing Buoyancy at " + jogVelocity.ToString() + " CPS for " + numLoops.ToString() + " loops");
            buoyancyEngine.openMV();
            Thread.Sleep(1000);
            buoyancyEngine.decreaseBuoyancy(jogVelocity);

            for (int i = 0; i < numLoops; i++)
            {
                innerBellowsPosition = buoyancyEngine.getBellowsPositionStringPot();
                emData = emPump.getVoltsAndMilliAmps();
                //buoyancyEngine.getMotorStatus();

                sbTemp.Clear();
                sbTemp.Append(i.ToString());
                sbTemp.Append(tab);
                sbTemp.Append(DateTime.Now.ToString("HH:mm:ss.fff"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(innerBellowsPosition.ToString("F2"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(emData.voltage.ToString("F3"));
                sbTemp.Append(tab);
                sbTemp.Append(tab);
                sbTemp.Append(emData.current.ToString("F3"));
                EngrLogger.writeToColumns(sbTemp);

                Thread.Sleep(1000);
            }

            buoyancyEngine.stopMotorAndCloseValve();
        }

        [TestMethod]
        public void TestGetStatus()
        {

        }

        [TestMethod]
        public void TestRunMotor()
        {
            Init();
            buoyancyEngine.init();

            EnergyMonitorPump emPump = EnergyMonitorPump.Instance;
            EnergyMonitorLTC2946.EM_VandI emData;

            Debug.Print("Opening MV");
            buoyancyEngine.openMV();
            Thread.Sleep(3000);
            Debug.Print("Closing MV");
            buoyancyEngine.closeMV();
            Thread.Sleep(3000);
            Debug.Print("Opening MV");
            buoyancyEngine.openMV();
            Thread.Sleep(3000);

            int jogVelocity = 5000;
            Debug.Print("Running motor for 2 seconds");
            buoyancyEngine.increaseBuoyancy(jogVelocity);
            Thread.Sleep(2000);
            buoyancyEngine.stopMotor();
            buoyancyEngine.closeMV();
        }

        private static bool runonce;
        private MotherBoard motherboard;
        private EnergyMonitorPump emPump;
        private BuoyancyEngine buoyancyEngine;

        private void Init()
        {
            Thread.Sleep(1000);
            motherboard = HWModules.MotherBoard.Instance;
            Thread.Sleep(1000);
            emPump = EnergyMonitorPump.Instance;
            Thread.Sleep(1000);
            motherboard.EnableChannelPower((int)HWModules.MotherBoard.ChannelNames.PositionSensorChannel);
            Thread.Sleep(1000);
            motherboard.EnableChannelPower((int)HWModules.MotherBoard.ChannelNames.PumpMotorControllerElexChannel);
            Thread.Sleep(1000);
            motherboard.EnablePump();
            Thread.Sleep(1000);

            buoyancyEngine = BuoyancyEngine.Instance;
            Thread.Sleep(1000);

            if (!runonce)
            {
                runonce = true;
                buoyancyEngine.init();
                Thread.Sleep(1000);
            }
        }
    }
}