﻿/*
 * Copyright (c) 2015, Wisconsin Robotics
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the distribution.
 * * Neither the name of Wisconsin Robotics nor the
 *   names of its contributors may be used to endorse or promote products
 *   derived from this software without specific prior written permission.
 *   
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL WISCONSIN ROBOTICS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Windows;
using System.Windows.Input;

using Prism.Mvvm;
using Prism.Commands;
using Prism.Events;

using BadgerControlModule.Models;
using BadgerControlModule.Services;
using BadgerControlModule.Utils;

namespace BadgerControlModule.ViewModels
{
    class BadgerControlArmViewModel : BindableBase
    {
        protected readonly IEventAggregator _eventAggregator;
        BadgerControlSubsystem badgerControlSubsystem;
        ObservableCollection<ArmJoint> armJointsList;
        ArmJoint currentJoint;
        string ticksString;

        public BadgerControlArmViewModel(IEventAggregator eventAggregator)
        {
            this._eventAggregator = eventAggregator;
            badgerControlSubsystem = BadgerControlSubsystem.GetInstance();

            this.Send = new DelegateCommand<object>(OnSend);

            armJointsList = new ObservableCollection<ArmJoint>();
            armJointsList.Add(ArmJoint.Elbow);
            armJointsList.Add(ArmJoint.Turntable);
            armJointsList.Add(ArmJoint.Wrist);
        }

        public ObservableCollection<ArmJoint> ArmJointsList
        {
            get { return armJointsList; }
            private set { armJointsList = value; }
        }

        public ICommand Send
        {
            get;
            private set;
        }

        private void OnSend(object arg)
        {
            int ticks;
            if (!Int32.TryParse(ticksString, out ticks))
                return;

            if (ticks < -100 || ticks > 100)
                return;

            if (CurrentArmJoint == ArmJoint.Elbow || CurrentArmJoint == ArmJoint.Turntable || CurrentArmJoint == ArmJoint.Wrist)
                badgerControlSubsystem.SendRelativeArmPosition(currentJoint, ticks);
        }

        public ArmJoint CurrentArmJoint
        {
            get { return currentJoint; }
            set { currentJoint = value; }
        }

        public string Ticks
        {
            get { return ticksString; }
            set { ticksString = value; }
        }
    }
}
