//
// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) 2011-2011 - DIGITEO - Bruno JOFRET
//
// This file must be used under the terms of the CeCILL.
// This source file is licensed as described in the file COPYING, which
// you should have received as part of this distribution.  The terms
// are also available at
// http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
//
//

function block=ARDUINO_DCMOTOR_sim(block,flag)
    global port_com arduino_sample_time;
function DEBUG(message)
    disp("[DEBUG time = "+string(scicos_time())+"] {"+block.label+"} ARDUINO_DCMOTOR Simulation: "+message);
endfunction
    select flag
     case -5 // Error

     case 0 // Derivative State Update


     case 1 // Output Update
      //DEBUG("Output update ");

      u1 = block.inptr(1);     
      //envoi de la direction 
      direction=sign(u1);
//      if block.rpar(1)==1 then //adafruit shield
//         if direction>=0 then
//          code_dir="f";
//         else
//          code_dir="b";
//        end
//        code_sent="B"+ascii(48+block.rpar(5))+code_dir; 
////        writeserial(port_com,code_sent);
//        write_serial(1,code_sent,3)
//
//        if abs(u1)>255 then
//          code_sent="A"+ascii(48+block.rpar(5))+ascii(255);
////          writeserial(port_com,code_sent);
//          write_serial(1,code_sent,3)
//        else
//          code_sent="A"+ascii(48+block.rpar(5))+ascii(abs(ceil(u1)));
////          writeserial(port_com,code_sent);
//          write_serial(1,code_sent,3)
//        end
//      else  //generic L298 L293
          if direction>=0 then
              code_dir=ascii(49);
          else
              code_dir=ascii(48);
          end
          if abs(u1)>255 then
              val=255;
          else
              val=abs(ceil(u1));
          end
          
          //code_sent="A"+ascii(48+block.rpar(5))+code_dir+ascii(val);
          code_sent="M"+ascii(48+block.rpar(5))+code_dir+ascii(val);
//          writeserial(port_com,code_sent);
          write_serial(1,code_sent,4)
//      end

     
     case 2 // State Update

     case 3 // OutputEventTiming
          evout = block.evout(1);
          if evout < 0
              evout = arduino_sample_time;
          else
              evout = evout + arduino_sample_time;
          end
          block.evout(1) = evout;
     case 4 // Initialization
        disp("init DCmotor")
        if(block.rpar(1)==1) then
            //code_sent="91";
            code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"1";    //adafruit
        elseif (block.rpar(1)==2) then
             code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"1";   //code pour initialiser L298
         elseif (block.rpar(1)==3) then
             code_sent="C"+string(block.rpar(5))+ascii(48+block.rpar(4))+ascii(48+block.rpar(3))+"0";   //code pour initialiser L293
        end
//        writeserial(port_com,code_sent);  
        write_serial(1,code_sent,5)
//        disp(code_sent)

        //Attente que l'arduino reponde OK
        [a,b,c]=status_serial(1);
        while (b < 2) 
          [a,b,c]=status_serial(1);
        end
        values=read_serial(1,2);
        if (values == 'OK') then
            disp('Init motor successful')
        else
            disp('Init motor unsuccessful')
        end
        
     case 5 // Ending
      // FIXME: quoi faire a la fin de la simulation
      //code_sent="M"+ascii(48+block.rpar(5))+"r";
      //code_sent="M"+ascii(48+block.rpar(5))+ascii(0)+ascii(0);
//        writeserial(port_com,code_sent);
        //write_serial(1,code_sent,3)
        code_sent="M"+ascii(48+block.rpar(5))+"1"+ascii(0);
      write_serial(1,code_sent,4)
//      write_serial(1,code_sent,4)
//      if block.rpar(1)==1 then
//        
//    else
//        code_sent="B"+ascii(48+block.rpar(5))+"r";
////        writeserial(port_com,code_sent);  
//        write_serial(1,code_sent,3)
////        disp(code_sent)
//      end

     case 6 // Re-Initialisation

     case 9 // ZeroCrossing

    else // Unknown flag

    end
endfunction