/** @file
 * @brief This file contains the definition of the functions associated with the user-defined
 * application for the Esmacat slave project */
 /*****************************************************************************************
 * INCLUDES
 ****************************************************************************************/
#include "my_app.h"

/*****************************************************************************************
 * FUNCTIONS
 ****************************************************************************************/
/**
 * @brief Identifies the actual Esmacat slave sequence in the EtherCAT communication chain.
 */
void my_app::assign_slave_sequence(){
    // tell the master what type of slave is at which point in the chain
    assign_esmacat_slave_index(&ease_1, 0);  //<-- The arduino is connected in number 0
}

/**
 * @brief Configure your Esmacat slave.
 * Link Esmacat slave object with the actual Esmacat slave in the EtherCAT communication chain.
 * Functions beginning with 'configure_slave' must only be executed in this function
 */
void my_app::configure_slaves(){


    // add initialization code here
    // Functions starting with "configure_slave" work only in configure_slaves() function
}

/** @brief Initialization that needs to happen on the first iteration of the loop
 */
void my_app::init()
{ 
    // prev_analog_value = 1023;
}

/**
 * @brief Executes functions at the defined loop rate
 */
void my_app::loop(){
    // add functions below that are to be executed at the loop rate
    lcd_analog_input_value = ease_1.get_input_variable_0_IN_GEN_INT0();

    cout << lcd_analog_input_value << "\t";
    // Determine the button pressed based on the analog value received
    if (lcd_analog_input_value >= 0 && lcd_analog_input_value < 50)
    {
        cout << lcd_analog_input_value << "\t";
        ease_1.set_output_variable_1_OUT_GEN_INT1(4);  // <-- Write the corresponding encoding for right
        cout << "Right Button Pressed" << endl;   // <-- Printing message onto the terminal
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);   //<-- Send the anlog value back to arduino to print in the Serial Monitor
    }
    if (lcd_analog_input_value >= 50 && lcd_analog_input_value < 150)
    {
        cout << lcd_analog_input_value << "\t";
        ease_1.set_output_variable_1_OUT_GEN_INT1(2);  // <-- Write the corresponding encoding for up
        cout << "Up Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 150 && lcd_analog_input_value < 300)
    {
        cout << lcd_analog_input_value << "\t";
        ease_1.set_output_variable_1_OUT_GEN_INT1(3);  // <-- Write the corresponding encoding for down
        cout << "Down Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 300 && lcd_analog_input_value < 500)
    {
        cout << lcd_analog_input_value << "\t";
        ease_1.set_output_variable_1_OUT_GEN_INT1(1);  // <-- Write the corresponding encoding for left
        cout << "Left Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 500 && lcd_analog_input_value <= 750)
    {
        cout << lcd_analog_input_value << "\t";
        ease_1.set_output_variable_1_OUT_GEN_INT1(5);  // <-- Write the corresponding encoding for Select
        cout << "Select Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
}