#include <iostream>
#include <chrono>
#include <ctime>
#include "NewGon.h"
//#include "Motion.h"

int initialize (NewGon * myGon) 
{
    //get ready to loop
    myGon->setName("WayneGon");

    myGon->axis[0].setName("Axis_1");
    myGon->axis[0].setUnitUsr("mm");
    myGon->axis[0].setUnitCtr("nm");
    myGon->axis[0].scale = 1;
    myGon->axis[0].offset = 0;
    myGon->axis[0].LimNeg = -2.;
    myGon->axis[0].LimPos =  2.;   
    myGon->axis[0].maxSpeed = 100.;
    myGon->axis[0].minSpeed = 0.;
    myGon->axis[0].maxJogSpeed = 100.;
    myGon->axis[0].minJogSpeed = 0.;
    myGon->axis[0].moveSpeed = 10.;
    myGon->axis[0].jogSpeed = 10.;

    myGon->axis[1].setName("Axis_2");
    myGon->axis[1].setUnitUsr("mm");
    myGon->axis[1].setUnitCtr("nm");
    myGon->axis[1].scale = 1;
    myGon->axis[1].offset = 0;
    myGon->axis[1].LimNeg = -2.;
    myGon->axis[1].LimPos =  2.;   
    myGon->axis[1].maxSpeed = 100.;
    myGon->axis[1].minSpeed = 0.;
    myGon->axis[1].maxJogSpeed = 100.;
    myGon->axis[1].minJogSpeed = 0.;
    myGon->axis[1].moveSpeed = 10.;
    myGon->axis[1].jogSpeed = 10.;

    myGon->axis[2].setName("Axis_3");
    myGon->axis[2].setUnitUsr("mm");
    myGon->axis[2].setUnitCtr("nm");
    myGon->axis[2].scale = 1;
    myGon->axis[2].offset = 0;
    myGon->axis[2].LimNeg = -2.;
    myGon->axis[2].LimPos =  2.;   
    myGon->axis[2].maxSpeed = 100.;
    myGon->axis[2].minSpeed = 0.;
    myGon->axis[2].maxJogSpeed = 100.;
    myGon->axis[2].minJogSpeed = 0.;
    myGon->axis[2].moveSpeed = 10.;
    myGon->axis[2].jogSpeed = 10.;

    myGon->axis[3].setName("Axis_4");
    myGon->axis[3].setUnitUsr("mm");
    myGon->axis[3].setUnitCtr("nm");
    myGon->axis[3].scale = 1;
    myGon->axis[3].offset = 0;
    myGon->axis[3].LimNeg = -2.;
    myGon->axis[3].LimPos =  2.;   
    myGon->axis[3].maxSpeed = 100.;
    myGon->axis[3].minSpeed = 0.;
    myGon->axis[3].maxJogSpeed = 100.;
    myGon->axis[3].minJogSpeed = 0.;
    myGon->axis[3].moveSpeed = 10.;
    myGon->axis[3].jogSpeed = 10.;

    myGon->axis[4].setName("Axis_5");
    myGon->axis[4].setUnitUsr("mm");
    myGon->axis[4].setUnitCtr("nm");
    myGon->axis[4].scale = 1;
    myGon->axis[4].offset = 0;
    myGon->axis[4].LimNeg = -2.;
    myGon->axis[4].LimPos =  2.;   
    myGon->axis[4].maxSpeed = 100.;
    myGon->axis[4].minSpeed = 0.;
    myGon->axis[4].maxJogSpeed = 100.;
    myGon->axis[4].minJogSpeed = 0.;
    myGon->axis[4].moveSpeed = 10.;
    myGon->axis[4].jogSpeed = 10.;

    myGon->axis[5].setName("Axis_6");
    myGon->axis[5].setUnitUsr("mm");
    myGon->axis[5].setUnitCtr("nm");
    myGon->axis[5].scale = 1;
    myGon->axis[5].offset = 0;
    myGon->axis[5].LimNeg = -2.;
    myGon->axis[5].LimPos =  2.;   
    myGon->axis[5].maxSpeed = 100.;
    myGon->axis[5].minSpeed = 0.;
    myGon->axis[5].maxJogSpeed = 100.;
    myGon->axis[5].minJogSpeed = 0.;
    myGon->axis[5].moveSpeed = 10.;
    myGon->axis[5].jogSpeed = 10.;

    return 0;
}

#define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
static inline void tsnorm(struct timespec *ts)
{
   while (ts->tv_nsec >= NSEC_PER_SEC) {
      ts->tv_nsec -= NSEC_PER_SEC;
      ts->tv_sec++;
   }
}


/* Subtract the ‘struct timeval’ values X and Y, (X-Y)
   Return 1 if the difference is negative, otherwise 0. */
int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *y)
{
  /* Perform the carry for the later subtraction by updating y. */
  if (x->tv_nsec < y->tv_nsec) {
    int n_sec = (y->tv_nsec - x->tv_nsec) / 1000000000 + 1;
    y->tv_nsec -= 1000000000 * n_sec;
    y->tv_sec += n_sec;
  }
  if (x->tv_nsec - y->tv_nsec > 1000000000) {
    int n_sec = (x->tv_nsec - y->tv_nsec) / 1000000000;
    y->tv_nsec += 1000000000 * n_sec;
    y->tv_sec -= n_sec;
  }

  /* Compute the time remaining to wait.
     tv_usec is certainly positive. */
  result->tv_sec = x->tv_sec - y->tv_sec;
  result->tv_nsec = x->tv_nsec - y->tv_nsec;

  /* Return 1 if result is negative. */
  return x->tv_sec < y->tv_sec;
}




int mainloop (NewGon * myGon)
{
    //Variables for Loop Timing
    float period = 1000*1000; //in ns (1ms)
    static struct timespec t;
    long int loopcount=0;

    //Chronometry/statistics
    struct timespec t_toc, t_lasttoc, t_duration;
    double us_err, us_err_min=0, us_err_max=0, us_err_avg=0, us_err_rms=0;

    //Setup Loop Conditions
    int loopok = 1;
    clock_gettime(CLOCK_MONOTONIC, &t); //set t to current time

    while (loopok) {
        loopcount++;
        //Chronometry
        t_lasttoc = t_toc;
        clock_gettime(CLOCK_MONOTONIC, &t_toc); //TOC
        timespec_subtract (&t_duration, &t_toc, &t_lasttoc); //get duration
        us_err = ((t_duration.tv_nsec-period)/1000.); //in us
        if (loopcount > 2) { //do statistics, omit first 2 values
            if (us_err < us_err_min) us_err_min = us_err;
            if (us_err > us_err_max) us_err_max = us_err;
            us_err_avg = (us_err_avg*(loopcount-1)+us_err)/loopcount;
            us_err_rms = sqrt(((us_err_rms)*(us_err_rms)*(loopcount-1)+us_err*us_err)/loopcount);
        }
        if (!(loopcount%1)){ //print every n loops
            printf("%+5.2f [us] Min: %+5.2f [us] Max:%+5.2f [us] Avg:%+5.2f [us] RMS: %5.2f [us]\n",us_err, us_err_min, us_err_max, us_err_avg, us_err_rms);
        }




        //do stuff here:        

        // stop loop after n cycles
        if (loopcount > 10000) loopok = 0;   



        //Loop Timing
        t.tv_nsec += period; //add a period to the cycle
        tsnorm(&t); //reformat to ns 
        //The famous sleep until next tick:
        clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, &t);
    }
    return 0;
}


int finalize (NewGon * myGon)
{

    return 0;
}





int main ()
{
    std::chrono::time_point<std::chrono::high_resolution_clock> start, end;
    start = std::chrono::high_resolution_clock::now(); //chrono start
    NewGon myGon; //Create Goniometer with 6 physical axes.
    initialize(&myGon);
    end = std::chrono::high_resolution_clock::now(); //chrono stop
//    myGon.print();
//    Motion motion1(&myGon.axis[0]); //Create motion object for axis 1 linking to axis[0]
//    Motion motion2(&myGon.axis[1]); //Create motion object for axis 2
//    Motion motion3(&myGon.axis[2]); //Create motion object for axis 3
//    Motion motion4(&myGon.axis[3]); //Create motion object for axis 4
//   Motion motion5(&myGon.axis[4]); //Create motion object for axis 5
//    Motion motion6(&myGon.axis[5]); //Create motion object for axis 6

    mainloop(&myGon);



 
    int elapsed_time = std::chrono::duration_cast<std::chrono::microseconds>
                             (end-start).count();
    std::time_t end_time = std::chrono::system_clock::to_time_t(end);
 
    std::cout << "finished computation at " << std::ctime(&end_time)
              << "elapsed time: " << elapsed_time << "us\n";
    return 0;
}