using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;

namespace AtariRobot
{
    public interface IPaddle
    {
        void Rotate(NxcMotorPort port, sbyte power, short degrees);
        void ButtonPress();
        void ButtonDown();
        void ButtonUp();
        bool Busy { get; set; }
        void StartRotation(NxcMotorPort port, sbyte power);
        void Stop(NxcMotorPort port);
    }

    public class MockPaddle : IPaddle
    {
        #region IPaddle Members

        public void Rotate(NxcMotorPort port, sbyte power, short degrees)
        {
            
        }
        public void StartRotation(NxcMotorPort port, sbyte power)
        {

        }

        public void Stop(NxcMotorPort port)
        {

        }

        public void ButtonPress()
        {
            
        }
    
        public void ButtonDown()
        {
            
        }

        public void ButtonUp()
        {
            
        }

        public bool Busy { get; set; }

        #endregion
    }


    public class NxtPaddleController : IPaddle
    {
        protected NxtBluetooth2 _nxt;
        protected bool _brake = true;

        public NxtPaddleController(string comPort)
        {
            _nxt = new NxtBluetooth2(comPort);
            //Completed = new ManualResetEvent(true);
        }

        public void Rotate(NxcMotorPort port, sbyte power, short degrees)
        {
            if (Busy)
            {
                //Should probably throw exception or something, but whatever.
                return;
            }
            Busy = true;

            //TODO:  You know, a dedicated thread might be better...
            ThreadPool.QueueUserWorkItem(
                delegate
                {
                    try
                    {
                        NxcMovementPacket packet = new NxcMovementPacket();
                        packet.MotorPort = port;
                        packet.Power = power;
                        packet.Degrees = degrees;
                        packet.Brake = _brake;

                        _nxt.SendMessage(0, packet.ToBytes(), false);

                        byte[] bytes = null;
                        do
                        {
                            bytes = _nxt.ReadMailbox(0, false);
                            if (NxtResponsePacket.ReadStatus(bytes) == NxtResponseCode.DataOutOfRange)
                            {
                                break;
                            }
                        }
                        while (NxtResponsePacket.ReadStatus(bytes) == NxtResponseCode.MailboxEmpty || !NxtMailbox.ReadLogic(bytes));
                    }
                    finally
                    {
                        Busy = false;
                    }
                });
        }

        public void StartRotation(NxcMotorPort port, sbyte power)
        {
            NxcMovementPacket packet = new NxcMovementPacket();
            packet.MotorPort = port;
            packet.Power = power;
            packet.Degrees = 0;
            packet.Brake = _brake;

            _nxt.SendMessage(0, packet.ToBytes(), false);
        }

        public void Stop(NxcMotorPort port)
        {
            NxcMovementPacket packet = new NxcMovementPacket();
            packet.MotorPort = port;
            packet.Power = 0;
            packet.Degrees = 0;
            packet.Brake = _brake;

            _nxt.SendMessage(0, packet.ToBytes(), false);
        }

        public void ButtonPress()
        {
            if (Busy)
            {
                //Should probably throw exception or something, but whatever.
                return;
            }

            ThreadPool.QueueUserWorkItem(
                delegate
                {
                    ButtonDown();
                    while (Busy) { Thread.Sleep(0); }
                    ButtonUp();
                });
        }
        public void ButtonDown()
        {
            Rotate(NxcMotorPort.OUT_B, 50, 45);
        }
        public void ButtonUp()
        {
            Rotate(NxcMotorPort.OUT_B, -50, 45);
        }

        public bool Busy {get; set;}
        //{
        //    get
        //    {
        //        return !Completed.WaitOne(0);
        //    }
        //}
        //public ManualResetEvent Completed { get; protected set; }
    }

    public static class NewPongBotInterface
    {
        public static void Send(NxtBluetooth2 nxt, RotationDirection direction, int degrees)
        {
        }
    }

    public enum RotationDirection
    {
        None,
        Clockwise,
        CounterClockwise
    }
}