/**
  * $Id$
  * $HeadURL$
  * $Author$
  */

#include "mainthread.h"

#include "tetra_if_impl.h"
#include "trimble_if.h"

#include <QMutexLocker>
#include <QTimer>
#include <DDS/Core/pacemaker.h>

namespace DifferentialGPS
{
MainThread::MainThread(QObject *parent)
  : QObject(parent)
  , m_ddsHandler(nullptr)
  , m_dgpsTimer(new QTimer(this))
  , m_tetraIfNum(0)
  , m_trimbleIfNum(0)
  , m_logger(getLogger("MainThread"))
  , m_broadcastTime(QTime::currentTime())
  , m_broadcastCycle_ms(10000)
{
  m_tetraIF[0] = new TetraImpl;
  m_tetraIF[1] = new TetraImpl;

  m_trimbleIF[0] = new TrimbleIF;
  m_trimbleIF[1] = new TrimbleIF;

  connect(this, &MainThread::newDataAvailable,
          m_tetraIF[m_tetraIfNum], &TetraImpl::onNewDataAvailable,
          Qt::QueuedConnection);

}

MainThread::~MainThread()
{
  m_ddsHandler = nullptr;

  m_tetraIF[0]->quit();
  m_tetraIF[1]->quit();
  m_trimbleIF[0]->quit();
  m_trimbleIF[1]->quit();

  m_tetraIF[0]->wait();
  m_tetraIF[1]->wait();
  m_trimbleIF[0]->wait();
  m_trimbleIF[1]->wait();

  delete m_tetraIF[0];
  delete m_tetraIF[1];
  delete m_trimbleIF[0];
  delete m_trimbleIF[1];
}


bool MainThread::init(int domainId)
{
  m_ddsHandler.reset(new DdsHandler(domainId));
  if (!m_ddsHandler->init())
  {
    ERROR_LOG(m_logger) << "Initialisation DdsHandler failed.";
    m_ddsHandler->pacemaker()->setNewState(Core::RunningState::StartingError);
    return false;
  }

  m_trimbleIF[0]->startThread(0, this);
  m_trimbleIF[1]->startThread(1, this);

  m_tetraIF[m_tetraIfNum]->startThread(m_tetraIfNum, this);

  m_ddsHandler->pacemaker()->setNewState(Core::RunningState::Running);
  return true;
}

void MainThread::addNewData(const QByteArray &ba, int trimbleIfNum)
{
  const int cycle_ms = m_broadcastCycle_ms + (m_broadcastCycle_ms / 5); // Zykluszeit + 20%
  QTime currentTime  = QTime::currentTime();

  bool overtake = (trimbleIfNum == m_trimbleIfNum);
  if (!overtake)
  {
    if (m_broadcastTime.msecsTo(currentTime) > cycle_ms)
    {
      overtake        = true;
      m_trimbleIfNum  = trimbleIfNum; // Lese ab jetzt bevorzugt von diesem IF
    }
  }

  if (overtake)
  {
    QMutexLocker l(&m_mutex);
    m_dgpsData = ba;
    if (m_tetraIF[m_tetraIfNum]->isRunning())
      emit newDataAvailable();
    else
    {
      disconnect(this, &MainThread::newDataAvailable,
                 m_tetraIF[m_tetraIfNum], &TetraImpl::onNewDataAvailable);
      m_tetraIfNum = (m_tetraIfNum + 1) % 2;
      connect(this, &MainThread::newDataAvailable,
              m_tetraIF[m_tetraIfNum], &TetraImpl::onNewDataAvailable,
              Qt::QueuedConnection);

      m_tetraIF[m_tetraIfNum]->startThread(m_tetraIfNum, this);
    }

    m_broadcastTime = currentTime; // Die Broadcast-Zeit merken
  }

}

bool MainThread::getNewData(QByteArray &ba)
{
  QMutexLocker l(&m_mutex);
  if (!m_dgpsData.size())
    return false;
  ba = m_dgpsData;

  return true;
}
} // namespace DifferentialGPS