/**
 * @file pidSettings.cpp
 * @author Alexander Klein (alex@kleiax.de)
 * @brief 
 * @version 0.1
 * @date 2022-01-19
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#include "menuPidSettings.h"

MenuPidSettings::MenuPidSettings(PID* pid) {
    this->pid = pid;
    this->values[0] = (uint8_t) pid->GetKp();
    this->values[1] = (uint8_t) pid->GetKi();
    this->values[2] = (uint8_t) pid->GetKd();
}

void MenuPidSettings::down() {
    if (values[curPos] > 0)
        values[curPos]--;

    this->printMenu();
}

void MenuPidSettings::up() {
    if (values[curPos] < UINT8_MAX)
        values[curPos]++;

    this->printMenu();
}

void MenuPidSettings::right() {
    if (curPos < NUM_VAL - 1)
        curPos++;
    else
        curPos = 0;

    this->printMenu();
}

void MenuPidSettings::left() {
    if (curPos > 0)
        curPos--;
    else
        curPos = NUM_VAL - 1;

    this->printMenu();
}

void MenuPidSettings::no() {
    if (parentMenu)
        this->parentMenu->printMenu();
}

void MenuPidSettings::yes() {
    this->pid->SetTunings(this->values[0], this->values[1], this->values[2]);
    if (parentMenu)
        this->parentMenu->printMenu();
}

void MenuPidSettings::printMenu() {
    Serial.println("  P    I    D  ");
    char pos[16];
    switch (this->curPos) {
        case 0:
            sprintf(pos, "_%d.3_ %d.3  %d.3 ", this->values[0], this->values[1], this->values[2]);
            break;

        case 1:
            sprintf(pos, " %d.3 _%d.3_ %d.3 ", this->values[0], this->values[1], this->values[2]);
            break;

        case 2:
            sprintf(pos, " %d.3  %d.3 _%d.3_", this->values[0], this->values[1], this->values[2]);
            break;
        
        default:
            break;
    }
    Serial.println(pos);
}