/***************************************************************************************
 *
 * posctl.cc is part of SimpleSkyCam.
 *
 *****************************************************************************************/

#include <list>
#include <string>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include "gui.h"
#include "pid.h"
#include "filter.h"
#include "detect.h"
#include "configuration.h"
#include "video.h"
#include "videodev.h"
#include "histogram.h"
#include "error.h"

extern PosCtl posctl;
extern Simulation simulation;


extern GtkBuilder *_builder_;			// work around for threads
GtkWidget *posctl_rot_da = NULL;
GtkWidget *posctl_axis1_da = NULL;
GtkWidget *posctl_axis2_da = NULL;
double linedash1[] = { 1.0, 4.0 };


/*
 * axis history chart.
 */
#define AXIS_HISTORY_CNT 400
struct AxisHistory {
	double diff;
	double out;
	struct timeval ts;
};
struct AxisHistory axis_history[2][AXIS_HISTORY_CNT];
int axis_history_pos[2] = { 0, 0 };

void axis_history_add(int axis, double diff, double out) {
	if (axis > 1 || axis < 0) return;

	axis_history_pos[axis]++;
	if (axis_history_pos[axis] < 0) axis_history_pos[axis] = 0;
	if (axis_history_pos[axis] >= AXIS_HISTORY_CNT) axis_history_pos[axis] = 0;

	gettimeofday(&axis_history[axis][axis_history_pos[axis]].ts, NULL);
	axis_history[axis][axis_history_pos[axis]].diff = diff;
	axis_history[axis][axis_history_pos[axis]].out = out;
}


#define CALIB_MAXSPEED 2.0
#define CALIB_DURATION_DELTA 10.0
#define CALIB_DURATION_AXIS (CALIB_DURATION_DELTA / CALIB_MAXSPEED)

void posctl_gui_update();

void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	GtkWidget *wnd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "window-posctl"));

	gtk_widget_show(wnd);
}


void cb_posctl_btncalib (GtkWidget *widget, gpointer data) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

//	GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
//	gtk_widget_set_sensitive(btn, false);

	posctl.StartCalibration();
	posctl_gui_update();
}


void cb_posctl_btnstop (GtkWidget *widget, gpointer data) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	posctl.Stop();
	posctl_gui_update();
}


void cb_posctl_btncontrol (GtkWidget *widget, gpointer data) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	posctl.StartControl();
	posctl_gui_update();
}

void cb_posctl_show (GtkWidget *widget, gpointer data) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
	posctl_gui_update();
}


void cb_posctl_btn_axismove (GtkWidget *widget, gpointer data) {
	GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
	GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
	GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
	GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
	GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
	GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));
	double a1min, a2min, a1max, a2max;

	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	posctl.GetAxisParam(0, &a1min, &a1max, NULL, NULL, NULL);
	posctl.GetAxisParam(1, &a2min, &a2max, NULL, NULL, NULL);

	if (widget == btn_a1min) posctl.OutputWriteValue(0, a1min);
	else if (widget == btn_a1center) posctl.OutputWriteValue(0, (a1max-a1min)/2.0+a1min);
	else if (widget == btn_a1max) posctl.OutputWriteValue(0, a1max);
	else if (widget == btn_a2min) posctl.OutputWriteValue(1, a1min);
	else if (widget == btn_a2center) posctl.OutputWriteValue(1, (a1max-a1min)/2.0+a1min);
	else if (widget == btn_a2max) posctl.OutputWriteValue(1, a1max);

	posctl_gui_update();
}


void cb_posctl_change_entry (GtkWidget *widget, gpointer data) {
	double a1min, a1max, a1p, a1i, a1d;
	double a2min, a2max, a2p, a2i, a2d;

	GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
	GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
	GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
	GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
	GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
	GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
	GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
	GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
	GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
	GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
	GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
	const char *s;

	posctl.GetAxisParam(0, &a1min, &a1max, &a1p, &a1i, &a1d);
	posctl.GetAxisParam(1, &a2min, &a2max, &a2p, &a2i, &a2d);

	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
	s = gtk_entry_get_text(GTK_ENTRY(widget));

	posctl.LockMutex();
	if (e_posdevice == widget) 			posctl.SetDevice(s);
	else if (a1_min == widget)			a1min = atof(s);
	else if (a1_max == widget)			a1max = atof(s);
	else if (a1_kp == widget)			a1p = atof(s);
	else if (a1_ki == widget)			a1i = atof(s);
	else if (a1_kd == widget)			a1d = atof(s);
	else if (a2_min == widget)			a2min = atof(s);
	else if (a2_max == widget)			a2max = atof(s);
	else if (a2_kp == widget)			a2p = atof(s);
	else if (a2_ki == widget)			a2i = atof(s);
	else if (a2_kd == widget)			a2d = atof(s);

	posctl.SetAxisParam(0, a1min, a1max, a1p, a1i, a1d);
	posctl.SetAxisParam(1, a2min, a2max, a2p, a2i, a2d);

	posctl.UnLockMutex();
}


void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
	int clientw, clienth;

	position_f_2d lpos[5];
	float lmax;
	position_2d center;

	//
	// rotation da
	GtkWidget *entry_rot_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
	GtkWidget *entry_rot_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
	GtkWidget *entry_axis1_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
	GtkWidget *entry_axis1_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));
	GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
	GtkWidget *entry_axis2_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));

	float rotangle = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_angle))) * (M_PI / 180);
	float rotlen = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_len)));
	float a1_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_angle))) * (M_PI / 180);
	float a1_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_len)));
	float a2_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_angle))) * (M_PI / 180);
	float a2_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_len)));

	if (posctl_rot_da == NULL) // should only be called once
		posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
	if (posctl_axis1_da == NULL) // should only be called once
		posctl_axis1_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
	if (posctl_axis2_da == NULL) // should only be called once
		posctl_axis2_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
	clienth = gtk_widget_get_allocated_height(posctl_rot_da);
	clientw = gtk_widget_get_allocated_width(posctl_rot_da);
	center.x = clientw >> 1;
	center.y = clienth >> 1;

	//
	// draw the background
	cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
	cairo_paint(cr);
	cairo_fill (cr);
	cairo_set_source_rgb(cr, 0.8, 0.8, 0.8);
	cairo_rectangle (cr, 1, 1, clientw - 2, clienth - 2);
	cairo_fill (cr);

	cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
	cairo_set_dash(cr, linedash1, 2, 0);
	cairo_move_to(cr, center.x, center.y - center.y * 0.8);
	cairo_line_to(cr, center.x, center.y + center.y * 0.8);
	cairo_stroke(cr);

	cairo_move_to(cr, center.x - center.x * 0.8, center.y);
	cairo_line_to(cr, center.x + center.x * 0.8, center.y);
	cairo_stroke(cr);
	cairo_set_dash(cr, NULL, 0, 0);

	//
	// calculate angles
	lpos[0].x = sin(rotangle) * rotlen;
	lpos[0].y = cos(rotangle) * rotlen;

	lpos[1].x = lpos[0].x + sin(a1_angle) * a1_len;
	lpos[1].y = lpos[0].y + cos(a1_angle) * a1_len;
	lpos[2].x = lpos[0].x;
	lpos[2].y = lpos[0].y;

	lpos[3].x = lpos[0].x + sin(a2_angle) * a2_len;
	lpos[3].y = lpos[0].y + cos(a2_angle) * a2_len;
	lpos[4].x = lpos[0].x;
	lpos[4].y = lpos[0].y;

	// find maximum
	for (int i = 0; i < 5; i++) {
		if (i == 0) {
			lmax = fabs (lpos[0].x);
			if (fabs(lpos[i].y) > lmax) lmax = fabs(lpos[i].y);
		} else {
			if (fabs(lpos[i].x) > lmax) lmax = fabs(lpos[i].x);
			if (fabs(lpos[i].y) > lmax) lmax = fabs(lpos[i].y);
		}
	}

	//
	// draw
	cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
	cairo_set_font_size (cr, 11);
	cairo_set_line_width(cr, 4.0);

	// rot
	cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
	cairo_move_to(cr, center.x, center.y);
	cairo_line_to(cr, center.x + float (lpos[0].x * center.x * 0.8 / lmax),
					  center.y - float (lpos[0].y * center.y * 0.8 / lmax));
	cairo_stroke(cr);
	cairo_move_to(cr, center.x + float (lpos[0].x * center.x * 0.9 / lmax),
					  center.y - float (lpos[0].y * center.y * 0.9 / lmax));
	cairo_show_text(cr, (char *)"E");

	// axis1
	cairo_set_source_rgb(cr, 0.0, 1.0, 0.5);
	cairo_move_to(cr, center.x + float (lpos[1].x * center.x * 0.8 / lmax),
					  center.y - float (lpos[1].y * center.y * 0.8 / lmax));
	cairo_line_to(cr, center.x + float (lpos[2].x * center.x * 0.8 / lmax),
					  center.y - float (lpos[2].y * center.y * 0.8 / lmax));
	cairo_stroke(cr);
	cairo_move_to(cr, center.x + float (lpos[1].x * center.x * 0.9 / lmax),
					  center.y - float (lpos[1].y * center.y * 0.9 / lmax));
	cairo_show_text(cr, (char *)"1");

	// axis2
	cairo_set_source_rgb(cr, 0.0, 0.5, 1.0);
	cairo_move_to(cr, center.x + float (lpos[3].x * center.x * 0.8 / lmax),
					  center.y - float (lpos[3].y * center.y * 0.8 / lmax));
	cairo_line_to(cr, center.x + float (lpos[4].x * center.x * 0.8 / lmax),
					  center.y - float (lpos[4].y * center.y * 0.8 / lmax));
	cairo_stroke(cr);
	cairo_move_to(cr, center.x + float (lpos[3].x * center.x * 0.9 / lmax),
					  center.y - float (lpos[3].y * center.y * 0.9 / lmax));
	cairo_show_text(cr, (char *)"2");
};


void cb_posctl_entryanglelen (GtkWidget *widget, gpointer data) {
	if (posctl_rot_da == NULL) // should only be called once
		posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
    gdk_window_invalidate_rect(gtk_widget_get_window(posctl_rot_da), NULL, true);
};


#define AXIS_DIFF_MIN -10.0
#define AXIS_DIFF_MAX 10.0

void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
	GtkWidget *da1 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis1"));
	GtkWidget *da2 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis2"));
	position_2d center;
	int axis = 0 , i, cnt;
	double dx, dy;
	double aoutmin[2];
	double aoutmax[2];

	int clienth = gtk_widget_get_allocated_height(area);
	int clientw = gtk_widget_get_allocated_width(area);

	center.x = clientw >> 1;
	center.y = clienth >> 1;

	cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
	cairo_paint(cr);
	cairo_fill (cr);
	cairo_set_source_rgb(cr, 0.8, 0.8, 0.8);
	cairo_rectangle (cr, 1, 1, clientw - 2, clienth - 2);
	cairo_fill (cr);

	cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
	cairo_set_dash(cr, linedash1, 2, 0);
	cairo_move_to(cr, center.x, center.y - center.y * 0.8);
	cairo_line_to(cr, center.x, clienth);
	cairo_stroke(cr);
	cairo_set_dash(cr, NULL, 0, 0);

	if (da1 == area) axis = 0;
	else if (da2 == area) axis = 1;
	else {
		cairo_move_to(cr, 30, 0);
		cairo_show_text(cr, (char *)"unknown");
		return;
	}
	posctl.GetAxisParam(axis, &aoutmin[axis], &aoutmax[axis], NULL, NULL, NULL);

	// draw diff
	cairo_set_source_rgb(cr, 1.0, 0.5, 0.5);
	cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
	cairo_set_font_size (cr, 10);
	cairo_move_to(cr, 00, 10);
	cairo_show_text(cr, (char *)"diff");
	// draw elements diff
	i = axis_history_pos[axis];
	cnt = 0;
	do {
		dx = ((double) clientw) * (axis_history[axis][i].diff - AXIS_DIFF_MIN) /
				(AXIS_DIFF_MAX-AXIS_DIFF_MIN);
		dy = ((double) clienth) * ((double)cnt) / ((double) AXIS_HISTORY_CNT);

		if (dx >= clientw)	dx = clientw-1;
		if (dy >= clienth) 	dy = clienth-1;
		if (dx < 0) 		dx = 0;
		if (dy < 0)		 	dy = 0;

		if (cnt == 0) 	cairo_move_to(cr, (int)dx, int(dy));
		else 			cairo_line_to(cr, (int)dx, int(dy));

		cnt++;
		i--;
		if (i < 0) i = AXIS_HISTORY_CNT-1;
	} while (i != axis_history_pos[axis]);
	cairo_stroke(cr);

	cairo_set_source_rgb(cr, 0.0, 1.0, 0.5);
	cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
	cairo_set_font_size (cr, 10);
	cairo_move_to(cr, 40, 10);
	cairo_show_text(cr, (char *)"out");
	// draw elements diff
	i = axis_history_pos[axis];
	cnt = 0;
	do {
		dx = ((double) clientw) * (axis_history[axis][i].out - aoutmin[axis]) /
				(aoutmax[axis]-aoutmin[axis]);
		dy = ((double) clienth) * ((double)cnt) / ((double) AXIS_HISTORY_CNT);

		if (dx >= clientw)	dx = clientw-1;
		if (dy >= clienth) 	dy = clienth-1;
		if (dx < 0) 		dx = 0;
		if (dy < 0)		 	dy = 0;

		if (cnt == 0) 	cairo_move_to(cr, (int)dx, int(dy));
		else 			cairo_line_to(cr, (int)dx, int(dy));

		cnt++;
		i--;
		if (i < 0) i = AXIS_HISTORY_CNT-1;
	} while (i != axis_history_pos[axis]);
	cairo_stroke(cr);


	// draw chart

};


/*
 * posctl gui update
 */
void posctl_gui_update() {
	char txt[255];
	double kp, ki, kd, mi, ma;

	GtkWidget *caliblabel = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_calib_label"));

	GtkWidget *btnclib = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
	GtkWidget *btnstop = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_stop"));
	GtkWidget *btncontrol = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_control"));

	GtkWidget *e_cal_rotangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
	GtkWidget *e_cal_rotlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));

	GtkWidget *e_cal_a1angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
	GtkWidget *e_cal_a1len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));

	GtkWidget *e_cal_a2angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
	GtkWidget *e_cal_a2len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));

	GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
	GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
	GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
	GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
	GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
	GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
	GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));

	GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
	GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
	GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
	GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
	GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
	GtkWidget *a1_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outx"));
	GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
	GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
	GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
	GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
	GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
	GtkWidget *a2_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outy"));

	posctl.LockMutex();
	int m = posctl.GetMode();

	if (m == POSCTL_MODE_OFF) {
		gtk_widget_set_sensitive(btnclib, true);
		gtk_widget_set_sensitive(btncontrol, true);
		gtk_widget_set_sensitive(btnstop, false);
		gtk_widget_set_sensitive(btn_a1min, true);
		gtk_widget_set_sensitive(btn_a1center, true);
		gtk_widget_set_sensitive(btn_a1max, true);
		gtk_widget_set_sensitive(btn_a2min, true);
		gtk_widget_set_sensitive(btn_a2center, true);
		gtk_widget_set_sensitive(btn_a2max, true);
		gtk_widget_set_sensitive(e_posdevice, true);
		gtk_label_set_label(GTK_LABEL(caliblabel), (char *) "");
	}
	else {
		if (m == POSCTL_MODE_CALIB) {
			gtk_label_set_label(GTK_LABEL(caliblabel), (char *) "running");
		}
		gtk_widget_set_sensitive(btnclib, false);
		gtk_widget_set_sensitive(btncontrol, false);
		gtk_widget_set_sensitive(btnstop, true);
		gtk_widget_set_sensitive(btn_a1min, false);
		gtk_widget_set_sensitive(btn_a1center, false);
		gtk_widget_set_sensitive(btn_a1max, false);
		gtk_widget_set_sensitive(btn_a2min, false);
		gtk_widget_set_sensitive(btn_a2center, false);
		gtk_widget_set_sensitive(btn_a2max, false);
		gtk_widget_set_sensitive(e_posdevice, false);
	}

	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot.a);
	gtk_entry_set_text (GTK_ENTRY(e_cal_rotangle), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot.l);
	gtk_entry_set_text (GTK_ENTRY(e_cal_rotlen), txt);

	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1.a);
	gtk_entry_set_text (GTK_ENTRY(e_cal_a1angle), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1.l);
	gtk_entry_set_text (GTK_ENTRY(e_cal_a1len), txt);

	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2.a);
	gtk_entry_set_text (GTK_ENTRY(e_cal_a2angle), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2.l);
	gtk_entry_set_text (GTK_ENTRY(e_cal_a2len), txt);

	gtk_entry_set_text (GTK_ENTRY(e_posdevice), posctl.GetDevice().c_str());
	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[0]);
	gtk_label_set_text(GTK_LABEL(a1_out), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[1]);
	gtk_label_set_text(GTK_LABEL(a2_out), txt);

	posctl.GetAxisParam(0, &mi, &ma, &kp, &ki, &kd);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
	gtk_entry_set_text (GTK_ENTRY(a1_min), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
	gtk_entry_set_text (GTK_ENTRY(a1_max), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
	gtk_entry_set_text (GTK_ENTRY(a1_kp), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
	gtk_entry_set_text (GTK_ENTRY(a1_ki), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
	gtk_entry_set_text (GTK_ENTRY(a1_kd), txt);

	posctl.GetAxisParam(1, &mi, &ma, &kp, &ki, &kd);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
	gtk_entry_set_text (GTK_ENTRY(a2_min), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
	gtk_entry_set_text (GTK_ENTRY(a2_max), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
	gtk_entry_set_text (GTK_ENTRY(a2_kp), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
	gtk_entry_set_text (GTK_ENTRY(a2_ki), txt);
	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
	gtk_entry_set_text (GTK_ENTRY(a2_kd), txt);

	posctl.UnLockMutex();
}


/*
 * callback from the detect thread.
 * the gtk/gui updates must and will be processed in a separate gui thread
 */
gboolean cb_thread_posctl (gpointer data) {
	GtkWidget *da1 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis1"));
	GtkWidget *da2 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis2"));

	posctl_gui_update();

	gtk_widget_queue_draw(da1);
	gtk_widget_queue_draw(da2);
	if (posctl_axis1_da) gdk_window_invalidate_rect(gtk_widget_get_window(posctl_axis1_da), NULL, true);
	if (posctl_axis2_da) gdk_window_invalidate_rect(gtk_widget_get_window(posctl_axis2_da), NULL, true);

	return false;
};


PosCtl::PosCtl() {
	mode = POSCTL_MODE_OFF;

	calib_mode = POSCTL_CALIB_MODE_OFF;
	device_fd = -1;
	device = "";
	device_type = POSCTL_DEVTYPE_TTY;
};

/*
 * stop the control or the calibration
 */
void PosCtl::Stop() {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
	mode = POSCTL_MODE_OFF;
	gdk_threads_add_idle(cb_thread_posctl, NULL);
}


void PosCtl::StartCalibration() {
	printf ("%s:%d\n", __FILE__, __LINE__);
	if (mode != POSCTL_MODE_OFF) {
		printf ("%s:%d mode is not off, can't start calibration.\n", __FILE__, __LINE__);
		return;
	}
	mode = POSCTL_MODE_CALIB;
	calib_mode = POSCTL_CALIB_MODE_START;
	gettimeofday (&calib_timestamp, NULL);
	gdk_threads_add_idle(cb_thread_posctl, NULL);
}


void PosCtl::StartControl() {
	if (mode != POSCTL_MODE_OFF) {
		printf ("%s:%d mode is not off, can't start control.\n", __FILE__, __LINE__);
		return;
	}
	printf ("%s:%d %s start controlling Target:%f , %f\n", __FILE__, __LINE__, __FUNCTION__,
			target_pos.x, target_pos.y);

	pid_axis[0].Start();
	pid_axis[1].Start();
	mode = POSCTL_MODE_CONTROL;
	gdk_threads_add_idle(cb_thread_posctl, NULL);
}


/*
 * get and set PID parameter, no mutex lock
 * the access to the data should be already locked by the curren tthread
 */
void PosCtl::SetAxisParam (	int axis, double min, double max,
							double k, double i, double d) {

	if (axis < 0 || axis > 1) return;
	pid_axis[axis].SetParam(min, max, k, i, d);
};


void PosCtl::GetAxisParam (	int axis, double *min, double *max,
							double *k, double *i, double *d) {

	if (axis < 0 || axis > 1) return;
	pid_axis[axis].GetParam(min, max, k, i, d);
};


/*
 * calibration functions
 */
void PosCtl::CalibModeStart(int x, int y) {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	calib_pos.x = x;
	calib_pos.y = y;

	calib_mode = POSCTL_CALIB_MODE_DELTA;
	OutputWriteStop();
	gettimeofday (&calib_timestamp, NULL);
	gdk_threads_add_idle(cb_thread_posctl, NULL);
};


void PosCtl::CalibModeDelta(int x, int y) {
	struct timeval tv;
	float timediff;
	double a1min, a1max;

	gettimeofday (&tv, NULL);
	timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);

	if (timediff > CALIB_DURATION_DELTA) {
		position_f_2d fp;

		printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
		pid_axis[0].GetParam(&a1min, &a1max, NULL, NULL, NULL);

		fp.x = (x - calib_pos.x) / (float)timediff;
		fp.y = -(y - calib_pos.y) / (float)timediff;

		LockMutex();
		calib_rot_v = fp;
		calc_vec2anglelen(&fp, &calib_rot);
		UnLockMutex();

		calib_mode = POSCTL_CALIB_MODE_AXIS1;
		calib_pos.x = x;
		calib_pos.y = y;

		OutputWriteValue(0, CALIB_MAXSPEED);

		gettimeofday (&calib_timestamp, NULL);
		gdk_threads_add_idle(cb_thread_posctl, NULL);
	}
};


void PosCtl::CalibModeAxis(int x, int y) {
	struct timeval tv;
	float timediff;
	position_f_2d fp;

	gettimeofday (&tv, NULL);
	timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);

	if (timediff > CALIB_DURATION_AXIS) {
		printf ("%s:%d %s calib_mode: %d\n", __FILE__, __LINE__, __FUNCTION__, calib_mode);

		fp.x = +(x - calib_pos.x) / timediff;
		fp.y = -(y - calib_pos.y) / timediff;

		if (calib_mode ==  POSCTL_CALIB_MODE_AXIS1)	{
			calib_axis1_v = fp - calib_rot_v;
			calc_vec2anglelen(&calib_axis1_v, &calib_axis1);
			OutputWriteStop();
			OutputWriteValue(1, CALIB_MAXSPEED);
		}
		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2)	{
			calib_axis2_v = fp - calib_rot_v;
			calc_vec2anglelen(&calib_axis2_v, &calib_axis2);
			OutputWriteStart();
		}

		calib_mode++;
		calib_pos.x = x;
		calib_pos.y = y;
		gettimeofday (&calib_timestamp, NULL);
		gdk_threads_add_idle(cb_thread_posctl, NULL);
	}
};


void PosCtl::CalibModeFinish() {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	mode = POSCTL_MODE_OFF;
	calib_mode = POSCTL_CALIB_MODE_OFF;
	gettimeofday (&calib_timestamp, NULL);
	gdk_threads_add_idle(cb_thread_posctl, NULL);
};


/*
 * Loop, if new data is aviable
 */
void PosCtl::Loop (int posx, int posy) {
	//
	// calibration mode?
	if (mode == POSCTL_MODE_CALIB) {
		switch (calib_mode) {
		case (POSCTL_CALIB_MODE_START):
			CalibModeStart(posx, posy);
			break;
		case (POSCTL_CALIB_MODE_DELTA):
			CalibModeDelta(posx, posy);
			break;
		case (POSCTL_CALIB_MODE_AXIS1):
		case (POSCTL_CALIB_MODE_AXIS2):
			CalibModeAxis(posx, posy);
			break;
		case (POSCTL_CALIB_MODE_FINISH):
			CalibModeFinish();
			break;
		default:
			calib_mode = POSCTL_CALIB_MODE_OFF;
			mode = POSCTL_MODE_OFF;
			gdk_threads_add_idle(cb_thread_posctl, NULL);
		}
	}

	//
	// dist_axis1+axis2 should contain the lot distance to the
	// of the calibrated axis vector with the starting point at target_pos
	// if the current position is below the axis line, the distance must be negative.
	//
	// this distance must be controlled by the PID axis controller.
	// dist_axis1 --> will control pid_axis2
	// dist_axis2 --> will control pis_axis1
	else if (mode == POSCTL_MODE_CONTROL) {
		double dist_axis1, out1;
		double dist_axis2, out2;
		position_f_2d p;

		LockMutex();

		// calculate
		// dist_axis < 0.0 pid should increase the output.
		//           > 0.0 pid should decrease the output
		p.x = posx; p.y = posy;
		dist_axis1 = calib_axis1_v.perpendicular(p, target_pos);
		dist_axis2 = calib_axis2_v.perpendicular(p, target_pos);

		out1 = pid_axis[0].Update(0.0, dist_axis1);
		out2 = pid_axis[1].Update(0.0, dist_axis2);

		printf ("%s:%d %s", __FILE__, __LINE__, __FUNCTION__);
		printf (" Axis1 [dist:%+6.3f out1:%+6.3f]  ", dist_axis1, out1);
		printf (" Axis2 [dist:%+6.3f out2:%+6.3f]\n", dist_axis2, out2);

		OutputWriteValue(0, out1);
		OutputWriteValue(1, out2);

		axis_history_add(0, dist_axis1, out1);
		axis_history_add(1, dist_axis2, out2);

		UnLockMutex();
		gdk_threads_add_idle(cb_thread_posctl, NULL);
	}

	else {
		LockMutex();
		target_pos.x = posx;
		target_pos.y = posy;
		UnLockMutex();
	}
};


void PosCtl::SetDevice (std::string d) {
	printf ("%s:%d %s new device:%s\n", __FILE__, __LINE__, __FUNCTION__, d.c_str());

	OutputClose();
	device = d;

	if (d.compare ("SIMULATION") == 0) device_type = POSCTL_DEVTYPE_SIM;
	else  device_type = POSCTL_DEVTYPE_TTY;
};


int PosCtl::OutputClose() {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
	if (device_fd > 0) close(device_fd);
	device_fd = -1;

	return 0;
};


int PosCtl::OutputOpen() {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
	if (device_fd > 0) return 0;

	device_fd = open (device.c_str(), O_RDWR);
	if (device_fd < 0) {
		printf ("%s:%d could not open device:%s Error:%s\n", __FILE__, __LINE__,
				device.c_str(), strerror(errno));
		errormessage_display ((char *)"window-posctl", (char *)"OutputOpen",
				(char*)"%s:%d could not open device:%s Error:%s\n", __FILE__, __LINE__, device.c_str(), strerror(errno));
		return -1;
	}
	return 0;
};

int PosCtl::WriteTTY (char * outbuf) {
	ssize_t len;
	
	printf ("%s:%d %s send: '%s'\n", __FILE__, __LINE__, __FUNCTION__, outbuf);

	len = write (device_fd, outbuf, strlen(outbuf));
	if ((size_t) len != strlen(outbuf) || len < 0) {
		printf ("%s:%d could not write data to device:%s Error:%s\n", __FILE__, __LINE__,
				device.c_str(), strerror(errno));
		errormessage_display ((char *)"window-posctl", (char *)"WriteTTY",
				(char *) "%s:%d could not write data to device:%s Error:%s\n", __FILE__, __LINE__,
				device.c_str(), strerror(errno));
	}

	return 0;
}

int PosCtl::ReadTTY (char * inbuf, int length) {
	ssize_t len;

	// make device non-blocking
	fcntl(device_fd, F_SETFL, fcntl(device_fd, F_GETFL) | O_NONBLOCK);
	
	len = read (device_fd, inbuf, length);

	// somehow the first read sometimes fails, no idea why
	if (len < 0 && (errno == EAGAIN || errno == EWOULDBLOCK)) {
	  usleep(100000);
	  len = read (device_fd, inbuf, length);
	}
	
	if (len < 0) {
		printf ("%s:%d could not read data from device:%s Error:%s\n", __FILE__, __LINE__,
				device.c_str(), strerror(errno));
		errormessage_display ((char *)"window-posctl", (char *)"ReadTTY",
				(char *) "%s:%d could not read data from device:%s Error:%s\n", __FILE__, __LINE__,
				device.c_str(), strerror(errno));
		inbuf[0] = 0;
	}
	else {
	  inbuf[len] = 0;
	  printf ("%s:%d %s receive: '%s'\n", __FILE__, __LINE__, __FUNCTION__, inbuf);
	}

	// make device blocking
	fcntl(device_fd, F_SETFL, fcntl(device_fd, F_GETFL) & ~O_NONBLOCK);

	return 0;
}

int PosCtl::OutputWriteValue (int axis, double value) {
	char outbuf[255];
	// printf ("%s:%d %s   Axis %d   Value:%f\n", __FILE__, __LINE__, __FUNCTION__, axis, value);

	if (device_type == POSCTL_DEVTYPE_SIM) {
		simulation.AxisSetValue(axis, value);
		return 0;
	}

	if (device_fd <= 0) if (OutputOpen() != 0) return -1;

	//
	// save language setting and set to plain C
	std::string s = setlocale(LC_ALL, NULL);
	setlocale (LC_ALL, "C");

	snprintf(outbuf, 254, ":R%c%+09.4f#", (axis == 0 ? 'D' : 'R'), value);
	outbuf[254] = 0;

	// reset language setting to default
	setlocale (LC_ALL, s.c_str());

	WriteTTY(outbuf);
	ReadTTY(outbuf, sizeof(outbuf) - 1);

	return 0;
};

int PosCtl::OutputWriteStop () {
	char outbuf[255];

	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	if (device_type == POSCTL_DEVTYPE_SIM) {
		simulation.AxisStop();
		return 0;
	}

	snprintf (outbuf, 255, ":Q#");
	if (device_fd <= 0) if (OutputOpen() != 0) return -1;
	WriteTTY(outbuf);

	return 0;
}

int PosCtl::OutputWriteStart () {
	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);

	OutputWriteValue(0, 0.0);
	OutputWriteValue(1, 0.0);

	return 0;
}