/*
   Copyright (C) 2018 Raoul Rubien (github.com/rubienr) Updated for Linuxcnc 2020 by alkabal_free.fr

   This program is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2 of the License, or (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public
   License along with the program; if not, write to the Free
   Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
   02111-1307 USA.
 */

#pragma once

// local includes
#include "pendant-types.h"

// system includes
#include <type_traits>
#include <ostream>
#include <stdint.h>
#include <list>

#include <map>


// local library includes
#include <hal.h>
#include <math.h>

// forward declarations
// ----------------------------------------------------------------------
namespace XhcWhb04b6 {

// forward declarations
class XhcWhb04b6Component;
class Hal;
class UsbOutPackageData;
// ----------------------------------------------------------------------
//! If hand wheel is in step mode (toggled by Step/Con" button) this speed setting is applied.
//! In step mode the step is in machine units distance.
class HandwheelStepModeStepSize
{
public:
    enum class PositionNameIndex : uint8_t
    {
        RotaryButton0001      = 0,
        RotaryButton0010      = 1,
        RotaryButton0100      = 2,
        RotaryButton100       = 3,
        RotaryButton500       = 4,
        RotaryButton1000      = 5,
        NA0                   = 6,
        RotaryButtonUndefined = 7,
        POSITIONS_COUNT       = 8,
    };

    HandwheelStepModeStepSize();
    ~HandwheelStepModeStepSize();

    //! Translates the button position to step metric units.
    //! \param buttonPosition
    //! \return the step size in units ℝ ∈ {0.001, 0.01, 0.1, 1.0, -1}
    float getStepSize(PositionNameIndex buttonPosition) const;
    virtual bool isPermitted(PositionNameIndex buttonPosition) const;

private:
    const float mSequence[static_cast<std::underlying_type<HandwheelStepModeStepSize::PositionNameIndex>::type>(PositionNameIndex::POSITIONS_COUNT)];
};
// ----------------------------------------------------------------------
//! If hand wheel is in MPG mode (toggled by Step/Con/Mpg button) this speed setting is applied.
//! In Mpg mode the step speed is in percent of max-velocity.
class HandwheelMpgModeStepSize
{
public:
    enum class PositionNameIndex : uint8_t
    {
        RotaryButton2percent   = 0,
        RotaryButton5percent   = 1,
        RotaryButton10percent  = 2,
        RotaryButton30percent  = 3,
        RotaryButton60percent  = 4,
        RotaryButton100percent = 5,
        NA0                    = 6,
        RotaryButtonUndefined  = 7,
        POSITIONS_COUNT        = 8
    };

    HandwheelMpgModeStepSize();
    ~HandwheelMpgModeStepSize();

    //! Translates the button position to step size in %.
    //! \param buttonPosition
    //! \return the step size in percent ℕ ∈ {[0, 100], -1}
    float getStepSize(PositionNameIndex buttonPosition) const;
    virtual bool isPermitted(PositionNameIndex buttonPosition) const;

private:
    const int8_t mSequence[static_cast<std::underlying_type<HandwheelMpgModeStepSize::PositionNameIndex>::type>(PositionNameIndex::POSITIONS_COUNT)];
};
// ----------------------------------------------------------------------
//! If hand wheel is in con mode (toggled by Step/Con" button) this speed setting is applied.
//! In Con mode the step speed is in percent of max-velocity.
class HandwheelConModeStepSize
{
public:
    enum class PositionNameIndex : uint8_t
    {
        RotaryButton2percent   = 0,
        RotaryButton5percent   = 1,
        RotaryButton10percent  = 2,
        RotaryButton30percent  = 3,
        RotaryButton60percent  = 4,
        RotaryButton100percent = 5,
        NA0                    = 6,
        RotaryButtonUndefined  = 7,
        POSITIONS_COUNT        = 8
    };

    HandwheelConModeStepSize();
    ~HandwheelConModeStepSize();

    //! Translates the button position to step size in %.
    //! \param buttonPosition
    //! \return the step size in percent N ? {[0, 100], -1}
    float getStepSize(PositionNameIndex buttonPosition) const;
    virtual bool isPermitted(PositionNameIndex buttonPosition) const;

private:
    const int8_t mSequence[static_cast<std::underlying_type<HandwheelConModeStepSize::PositionNameIndex>::type>(PositionNameIndex::POSITIONS_COUNT)];
};
// ----------------------------------------------------------------------
//! If hand wheel is in Lead mode (activated by the feed rotary button) this speed setting is applied.
class HandwheelLeadModeStepSize
{
public:
    enum class PositionNameIndex : uint8_t
    {
        NA0             = 0,
        NA1             = 1,
        NA2             = 2,
        NA3             = 3,
        NA4             = 4,
        NA5             = 5,
        LEAD            = 6,
        UNDEFINED       = 7,
        POSITIONS_COUNT = 8
    };

    HandwheelLeadModeStepSize();
    ~HandwheelLeadModeStepSize();

    //! Translates the button position to step size.
    //! \param buttonPosition
    //! \return the step size ℕ ∈ {1.0, -1.0}
    float getStepSize(PositionNameIndex buttonPosition) const;
    virtual bool isPermitted(PositionNameIndex buttonPosition) const;

private:
    const float mSequence[static_cast<std::underlying_type<HandwheelLeadModeStepSize::PositionNameIndex>::type>(PositionNameIndex::POSITIONS_COUNT)];
};
// ----------------------------------------------------------------------
//! pendant button key code description
class KeyCode
{
public:
    const uint8_t code;
    //! default button text as written on pendant (if available)
    const char* text;
    //! alternative button text as written on pendant (if available)
    const char* altText;
    bool operator==(const KeyCode& other) const;
    bool operator!=(const KeyCode& other) const;
    KeyCode(uint8_t code, const char* text, const char* altText);
    KeyCode(const KeyCode& other);
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const KeyCode& data);
// ----------------------------------------------------------------------
//! meta-button state which is dependent on the "Fn" modifier button's state
class MetaButtonCodes
{
public:
    const KeyCode& key;
    const KeyCode& modifier;

    bool operator==(const MetaButtonCodes& other) const;
    bool operator!=(const MetaButtonCodes& other) const;
    MetaButtonCodes(const KeyCode& key, const KeyCode& modifier);
    virtual ~MetaButtonCodes();
    bool containsKeys(const KeyCode& key, const KeyCode& modifier) const;
};
// ----------------------------------------------------------------------
//! rotary axis selection button related parameters
class AxisRotaryButtonCodes
{
public:
    const KeyCode                           off;
    const KeyCode                           x;
    const KeyCode                           y;
    const KeyCode                           z;
    const KeyCode                           a;
    const KeyCode                           b;
    const KeyCode                           c;
    const KeyCode                           undefined;
    const std::map<uint8_t, const KeyCode*> codeMap;

    AxisRotaryButtonCodes();
};
// ----------------------------------------------------------------------
//! rotary feed button related parameters
class FeedRotaryButtonCodes
{
public:
    const KeyCode                           percent_2;
    const KeyCode                           percent_5;
    const KeyCode                           percent_10;
    const KeyCode                           percent_30;
    const KeyCode                           percent_60;
    const KeyCode                           percent_100;
    const KeyCode                           lead;
    const KeyCode                           undefined;
    const std::map<uint8_t, const KeyCode*> codeMap;

    FeedRotaryButtonCodes();
};
// ----------------------------------------------------------------------
//! pendant button related parameters
class ButtonsCode
{
public:
    const KeyCode reset;
    const KeyCode stop;
    const KeyCode start;
    const KeyCode feed_plus;
    const KeyCode feed_minus;
    const KeyCode spindle_plus;
    const KeyCode spindle_minus;
    const KeyCode machine_home;
    const KeyCode safe_z;
    const KeyCode workpiece_home;
    const KeyCode spindle_on_off;
    const KeyCode function;
    const KeyCode probe_z;
    const KeyCode macro10;
    const KeyCode continuous;
    const KeyCode step;
    const KeyCode undefined;
    const KeyCode& getKeyCode(uint8_t keyCode) const;
    const std::map<uint8_t, const KeyCode*> codeMap;

    ButtonsCode();
};
// ----------------------------------------------------------------------
class KeyEventListener
{
public:
    //! Called when button is pressed.
    //! \param softwareButton the button pressed
    //! \return true if a subsequent re-evaluation should be performed.
    //! Example: A button event changes the feed rotary buttons step mode from
    //! step to con. The button must be re-evaluated, otherwise the
    //! button state remains untouched until the next button's event.
    virtual bool onButtonPressedEvent(const MetaButtonCodes& metaButton) = 0;
    //! Called when button is released.
    //! \param softwareButton the button released
    //! \return true if a subsequent re-evaluation should be performed.
    //! Example: A button event changes the feed rotary buttons step mode from
    //! step to con. The button must be re-evaluated, otherwise the
    //! button state remains untouched until the next button's event.
    virtual bool onButtonReleasedEvent(const MetaButtonCodes& metaButton) = 0;
    virtual void onAxisActiveEvent(const KeyCode& axis) = 0;
    virtual void onAxisInactiveEvent(const KeyCode& axis) = 0;
    virtual void onFeedActiveEvent(const KeyCode& feed) = 0;
    virtual void onFeedInactiveEvent(const KeyCode& feed) = 0;
    virtual bool onJogDialEvent(const HandWheelCounters& counters, int8_t delta) = 0;
    virtual ~KeyEventListener();
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const MetaButtonCodes& data);
// ----------------------------------------------------------------------
class MetaButtonsCodes
{
public:
    const MetaButtonCodes reset;
    const MetaButtonCodes macro11;
    const MetaButtonCodes stop;
    const MetaButtonCodes macro12;
    const MetaButtonCodes start;
    const MetaButtonCodes macro13;
    const MetaButtonCodes feed_plus;
    const MetaButtonCodes macro1;
    const MetaButtonCodes feed_minus;
    const MetaButtonCodes macro2;
    const MetaButtonCodes spindle_plus;
    const MetaButtonCodes macro3;        // Hardcoded spindle speed
    const MetaButtonCodes spindle_minus;
    const MetaButtonCodes macro4;        // Hardcoded spindle speed
    const MetaButtonCodes machine_home;
    const MetaButtonCodes macro5;
    const MetaButtonCodes safe_z;
    const MetaButtonCodes macro6;
    const MetaButtonCodes workpiece_home;
    const MetaButtonCodes macro7;
    const MetaButtonCodes spindle_on_off;
    const MetaButtonCodes macro8;         // Hardcoded toggle spindle direction
    const MetaButtonCodes function;
    const MetaButtonCodes probe_z;
    const MetaButtonCodes macro9;
    const MetaButtonCodes macro10;        // Hardcoded Absolute/relative Dro
    const MetaButtonCodes macro14;
    const MetaButtonCodes continuous;
    const MetaButtonCodes macro15;
    const MetaButtonCodes step;
    const MetaButtonCodes macro16;
    const MetaButtonCodes undefined;

    const std::list<const MetaButtonCodes*> buttons;

    MetaButtonsCodes(const ButtonsCode& buttons);
    ~MetaButtonsCodes();

    const MetaButtonCodes& find(const KeyCode& keyCode, const KeyCode& modifierCode) const;
};
// ----------------------------------------------------------------------
class KeyCodes
{
public:
    static const ButtonsCode           Buttons;
    static const MetaButtonsCodes      Meta;
    static const AxisRotaryButtonCodes Axis;
    static const FeedRotaryButtonCodes Feed;
};
// ----------------------------------------------------------------------
class Button
{
public:
    Button(const KeyCode& key);
    virtual ~Button();
    virtual const KeyCode& keyCode() const;
    virtual bool setKeyCode(const KeyCode& keyCode);
    Button& operator=(const Button& other);

protected:
    const KeyCode* mKey;
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const Button& data);
// ----------------------------------------------------------------------
//! meta-button state which is dependent on the "Fn" modifier button's state
class ToggleButton : public Button
{
public:
    ToggleButton(const KeyCode& key, const KeyCode& modifier);
    virtual ~ToggleButton();
    virtual const KeyCode& modifierCode() const;
    virtual void setModifierCode(KeyCode& modifierCode);
    bool containsKeys(const KeyCode& key, const KeyCode& modifier) const;
    ToggleButton& operator=(const ToggleButton& other);

private:
    const KeyCode* mModifier;
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const ToggleButton& data);
// ----------------------------------------------------------------------
class RotaryButton : public Button
{
public:
    RotaryButton(const KeyCode& keyCode);
    virtual ~RotaryButton();
    virtual bool isPermitted() const = 0;
    RotaryButton& operator=(const RotaryButton& other);
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const RotaryButton& data);
// ----------------------------------------------------------------------
class FeedRotaryButton : public RotaryButton
{
public:
    FeedRotaryButton(const KeyCode& keyCode = KeyCodes::Feed.undefined,
                     HandwheelStepmodes::Mode stepMode = HandwheelStepmodes::Mode::MPG,
                     KeyEventListener* listener = nullptr);
    ~FeedRotaryButton();
    virtual bool setKeyCode(const KeyCode& keyCode) override;
    void setStepMode(HandwheelStepmodes::Mode stepMode);
    HandwheelStepmodes::Mode stepMode() const;
    float stepSize() const;
    bool isPermitted() const override;
    FeedRotaryButton& operator=(const FeedRotaryButton& other);

private:
    HandwheelStepmodes::Mode mStepMode;
    bool                     mIsPermitted;
    float                    mStepSize;
    bool                     mIsStepMode_5_10;
    KeyEventListener* mEventListener;

    static const HandwheelStepModeStepSize       mStepSizeMapper;
    static const HandwheelMpgModeStepSize        mMpgSizeMapper;
    static const HandwheelConModeStepSize        mConSizeMapper;
    static const HandwheelLeadModeStepSize       mLeadSizeMapper;

    static const std::map<const KeyCode*, HandwheelStepModeStepSize::PositionNameIndex>       mStepKeycodeLut;
    static const std::map<const KeyCode*, HandwheelMpgModeStepSize::PositionNameIndex>        mMpgKeycodeLut;
    static const std::map<const KeyCode*, HandwheelConModeStepSize::PositionNameIndex>        mConKeycodeLut;
    static const std::map<const KeyCode*, HandwheelLeadModeStepSize::PositionNameIndex>       mLeadKeycodeLut;

    void update();
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const FeedRotaryButton& data);
// ----------------------------------------------------------------------
class AxisRotaryButton : public RotaryButton
{
public:
    AxisRotaryButton(const KeyCode& keyCode = KeyCodes::Axis.undefined, KeyEventListener* listener = nullptr);
    virtual ~AxisRotaryButton();
    bool isPermitted() const override;
    AxisRotaryButton& operator=(const AxisRotaryButton& other);

private:
    KeyEventListener* mEventListener;
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const AxisRotaryButton& data);
// ----------------------------------------------------------------------
class Handwheel
{
public:
    Handwheel(const FeedRotaryButton& feedButton, KeyEventListener* listener = nullptr);
    ~Handwheel();
    void enableVerbose(bool enable);
    void setMode(HandWheelCounters::CounterNameToIndex mode);
    void count(int8_t delta);
    const HandWheelCounters& counters() const;
    HandWheelCounters& counters();
    //! En-/disables the incremental counter.
    //! \param enabled false if counting should be inhibited, true otherwise
    void setEnabled(bool enabled);

private:
    HandWheelCounters mCounters;
    bool              mIsEnabled{false};
    const FeedRotaryButton& mFeedButton;
    KeyEventListener      * mEventListener;
    std::ostream          mDevNull{nullptr};
    std::ostream          * mWheelCout;
    const char            * mPrefix;
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const Handwheel& data);
// ----------------------------------------------------------------------
class ButtonsState
{
public:
    ButtonsState(KeyEventListener* listener = nullptr, const ButtonsState* previousState = nullptr);
    ~ButtonsState();

    ButtonsState& operator=(const ButtonsState& other);

    void update(const KeyCode& keyCode,
                const KeyCode& modifierCode,
                const KeyCode& axisButton,
                const KeyCode& feedButton);

    void clearPressedButtons();

    const std::list<const KeyCode*>& pressedButtons() const;
    const MetaButtonCodes* currentMetaButton() const;
    const AxisRotaryButton& axisButton() const;
    const FeedRotaryButton& feedButton() const;
    FeedRotaryButton& feedButton();

private:
    std::list<const KeyCode*> mPressedButtons;
    const MetaButtonCodes* mCurrentMetaButton;
    AxisRotaryButton mAxisButton;
    FeedRotaryButton mFeedButton;
    const ButtonsState* mPreviousState;
    KeyEventListener  * mEventListener;
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const ButtonsState& data);
// ----------------------------------------------------------------------
class Display : public KeyEventListener
{
public:

    enum class AxisPositionMethod
    {
        RELATIVE,
        ABSOLUTE
    };
    enum class AxisGroup
    {
        XYZ,
        ABC
    };

    Display(const ButtonsState& currentButtonsState, Hal& hal, UsbOutPackageData& displayData);

    Display();

    ~Display();

    virtual bool onButtonPressedEvent(const MetaButtonCodes& metaButton) override;

    virtual bool onButtonReleasedEvent(const MetaButtonCodes& metaButton) override;

    virtual void onAxisActiveEvent(const KeyCode& axis) override;

    virtual void onAxisInactiveEvent(const KeyCode& axis) override;

    virtual void onFeedActiveEvent(const KeyCode& feed) override;

    virtual void onFeedInactiveEvent(const KeyCode& feed) override;

    virtual bool onJogDialEvent(const HandWheelCounters& counters, int8_t delta) override;

    void updateData();

    void clearData();

private:
    const ButtonsState& mCurrentButtonsState;
    Hal               & mHal;
    UsbOutPackageData & mDisplayData;
    AxisPositionMethod mAxisPositionMethod;
    AxisGroup          mActiveAxisGroup;
};
// ----------------------------------------------------------------------
class Pendant : public KeyEventListener
{
public:
    Pendant(Hal& hal, UsbOutPackageData& displayOutData);
    ~Pendant();

    void processEvent(uint8_t keyCode,
                      uint8_t modifierCode,
                      uint8_t rotaryButtonAxisKeyCode,
                      uint8_t rotaryButtonFeedKeyCode,
                      int8_t handWheelStepCount);

    void updateDisplayData();
    void clearDisplayData();

    void enableVerbose(bool enable);
    const ButtonsState& currentButtonsState() const;
    const ButtonsState& previousButtonsState() const;
    const Handwheel& handWheel() const;
    Handwheel& handWheel();

    virtual bool onButtonPressedEvent(const MetaButtonCodes& metaButton) override;
    virtual bool onButtonReleasedEvent(const MetaButtonCodes& metaButton) override;
    virtual void onAxisActiveEvent(const KeyCode& axis) override;
    virtual void onAxisInactiveEvent(const KeyCode& axis) override;
    virtual void onFeedActiveEvent(const KeyCode& axis) override;
    virtual void onFeedInactiveEvent(const KeyCode& axis) override;
    virtual bool onJogDialEvent(const HandWheelCounters& counters, int8_t delta) override;

    //! Sets Lead mode to spindle: Jog dial will change spindle speed.
    //! Note: Switching Lead mode is not supported at runtime, only at start.
    //! \sa mIsLeadModeSpindle
    //! \sa setLeadModeFeed()
    void setLeadModeSpindle(bool enable);
    //! Sets Lead mode to feed: Jog dial will change feed override.
    //! Note: Switching Lead mode is not supported at runtime, only at start.
    //! \sa mIsLeadModeFeed
    //! \sa setLeadModeFeed()
    void setLeadModeFeed(bool enable);
    void setStepMode_5_10(bool enable);
private:
    Hal& mHal;
    ButtonsState mPreviousButtonsState;
    ButtonsState mCurrentButtonsState;
    Handwheel    mHandWheel;
    Display      mDisplay;
    //! if in Lead mode: if true jog wheel changes the spindle speed, changes the feed override otherwise
    bool         mIsLeadModeSpindle = false;
    bool         mIsLeadModeFeed = false;
    bool         mIsStepMode_5_10 = false;

    float mScale;
    float mMaxVelocity;

    const char  * mPrefix;
    std::ostream  mDevNull{nullptr};
    std::ostream* mPendantCout;

    void shiftButtonState();

    void processEvent(const KeyCode& keyCode,
                      const KeyCode& modifierCode,
                      const KeyCode& rotaryButtonAxisKeyCode,
                      const KeyCode& rotaryButtonFeedKeyCode,
                      int8_t handWheelStepCount);
    void dispatchFeedEventToHandwheel(const KeyCode& feed, bool isActive);
    void dispatchAxisEventToHandwheel(const KeyCode& axis, bool isActive);
    void dispatchAxisEventToHal(const KeyCode& axis, bool isActive);
    void dispatchActiveFeedToHal(const KeyCode& feed, bool isActive);
    void dispatchFeedValueToHal();
};
// ----------------------------------------------------------------------
std::ostream& operator<<(std::ostream& os, const Pendant& data);
}