using System;
using System.Threading;
using System.Text;
using System.Collections;

using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;

namespace miniCPF
{
    public static class MTS
    {
        private static byte[] txData = new byte[3];
        private static byte[] rxData = new byte[3];

        private static SPI.Configuration config = new SPI.Configuration(Cpu.Pin.GPIO_Pin1, false, 0, 0, true, false, 200, SPI.SPI_module.SPI1);
        private static SPI MTS_R = new SPI(config);
        private static Object MTSlock = new Object();
        private static Timer MTSTimer = null;
        private static Program.CPFStates cpfState;
        private static DateTime timeStamp;
        private static StructQueue.qStruct qS = new StructQueue.qStruct();

        private static int MTSPositionUint = 0;
        public static double bellowsPosition = 0;

        public static void init()
        {
            MTSTimer = new Timer(new TimerCallback(sampleMTS), null, 500, configFile.MTSSamplePeriod);
            qS.byteArray = new byte[StructQueue.qRecordWidth];
        }

        public static void sampleMTS(object sender)
        {
            Array.Clear(rxData, 0, rxData.Length);
            MTS_R.WriteRead(txData, rxData);

            qS.byteArray = rxData;
            qS.timeStamp = DateTime.Now;
            qS.state = Program.CPFState;
            qS.qRecordType = StructQueue.QRecordType.MTS;
            lock (MTSlock) { Program.sQueue.Enqueue(qS); }
        }

        public static double parse(byte[] inBytes)
        {
            MTSPositionUint = (((inBytes[0] & 0x7F) << 16) | ((inBytes[1] & 0xFF) << 8) | (inBytes[2] & 0xFF)) * 2;
            bellowsPosition = 0.0005 * MTSPositionUint; //in mm
            //Debug.Print("MTS Position = " + bellowsPosition.ToString("f4"));

            return (bellowsPosition);
        }
        
    }
}