/*
 * File:   events.h
 * Author: maxL
 *
 * Created on July 28, 2016, 12:36 PM
 */

#include <stdio.h>
#include <timers.h>
#include <AD.h>
#include "events.h"
#include "roach.h"
#include "CalibConstants.h"

// Check for all events:

event_t CheckForEvents(void) {
    event_t thisEvent = NO_EVENT;

//    thisEvent = CheckForEnteredLight();
//    if (thisEvent != NO_EVENT) {
//        return thisEvent;
//    }
//
//    thisEvent = CheckForEnteredDark();
//    if (thisEvent != NO_EVENT) {
//        return thisEvent;
//    }
    thisEvent = CheckForOpticEvents();
    if(thisEvent != NO_EVENT){
        return thisEvent;
    }


    thisEvent = CheckForFrontBumpDown();
    if (thisEvent != NO_EVENT) {
        return thisEvent;
    }

    thisEvent = CheckForFLBumpDown();
    if (thisEvent != NO_EVENT) {
        return thisEvent;
    }

    thisEvent = CheckForFRBumpDown();
    if (thisEvent != NO_EVENT) {
        return thisEvent;
    }

    thisEvent = CheckForBackBumpDown();
    if (thisEvent != NO_EVENT) {
        return thisEvent;
    }

    thisEvent = CheckForTimer0Expired();
    if (thisEvent != NO_EVENT) {
        return thisEvent;
    }
    return NO_EVENT;
}

event_t CheckForOpticEvents(void)
{
    // all event checkers remember their previous Event:
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = previousEvent;
    // current_status = ???
    if(Roach_LightLevel() > DARK_THRESHOLD){
        if(previousEvent != ENTERED_DARK)
            currentEvent = ENTERED_DARK;
    }else if(Roach_LightLevel() < LIGHT_THRESHOLD){
        if(previousEvent != ENTERED_LIGHT)
            currentEvent = ENTERED_LIGHT;
    }

    // if there has been an important change, return an event:
    if (previousEvent != currentEvent) {
        previousEvent = currentEvent;
        //return SOME_EVENT
        return currentEvent;
    }

    //and if there has not been an important change,
    return NO_EVENT;
}



event_t CheckForFrontBumpDown(void) {
    // all event checkers remember their previous Event:
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = (Roach_ReadFrontLeftBumper() << 1) + Roach_ReadFrontRightBumper();

    // if there has been an important change, return an event:
    if (previousEvent != 0b11 && currentEvent == 0b11) {
        previousEvent = currentEvent;
        return FRONT_BUMP_DOWN;
    }
    previousEvent = currentEvent;
    //and if there has not been an important change,
    return NO_EVENT;
}

event_t CheckForFLBumpDown(void) {
    // all event checkers remember their previous Event:
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = Roach_ReadFrontLeftBumper();

    // if there has been an important change, return an event:
    if (!previousEvent && currentEvent) {
        previousEvent = currentEvent;
        return FL_BUMP_DOWN;
    }
    previousEvent = currentEvent;
    //and if there has not been an important change,
    return NO_EVENT;
}

event_t CheckForFRBumpDown(void) {
    // all event checkers remember their previous Event:
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = Roach_ReadFrontRightBumper();

    // if there has been an important change, return an event:
    if (!previousEvent && currentEvent) {
        previousEvent = currentEvent;
        return FR_BUMP_DOWN;
    }
    previousEvent = currentEvent;
    //and if there has not been an important change,
    return NO_EVENT;
}

event_t CheckForBackBumpDown(void) {
    // all event checkers remember their previous Event:
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = (Roach_ReadRearRightBumper() << 1) + Roach_ReadRearLeftBumper();

    // if there has been an important change, return an event:
    if (!previousEvent && currentEvent) {
        previousEvent = currentEvent;
        return BACK_BUMP_DOWN;
    }

    previousEvent = currentEvent;
    //and if there has not been an important change,
    return NO_EVENT;
}

event_t CheckForTimer0Expired(void) {
    // all event checkers remember their previous Event:...NAH
    static int previousEvent;

    // all event checkers update their event:
    int currentEvent = IsTimerExpired(0);
    // current_status = ???

    // if there has been an important change, return an event:
    if (!previousEvent && currentEvent) {
        previousEvent = currentEvent;
        return TIMER_0_EXPIRED;
    }
    previousEvent = currentEvent;
    //and if there has not been an important change,
    return NO_EVENT;
}