/**
 * @file driveManager.cpp
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Implemention of the class driveManager.h.
 * @version 0.1
 * @date 2021-12-14
 * 
 * @copyright Copyright (c) 2021
 * 
 */

#include "driveModi/driveManager.h"

Modi& operator++(Modi& m, int) {
    return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
}

DriveManager::DriveManager(MoveControl *moveControl) {
    this->moveControl = moveControl;
    this->navigation = new Navigation(17, 16);
}

DriveManager::~DriveManager() {
    delete this->navigation;
}

void DriveManager::loop() {
    this->moveControl->loop();
    this->navigation->loop();
    if (currentModusPtr)
        this->currentModusPtr->loop();
}

void DriveManager::nextModus() {
    changeModus(this->currentModus++);
}

void DriveManager::changeModus(Modi modus) {
    this->currentModus = modus;

    //Set moveControl to a safe state
    delete this->currentModusPtr;

    this->moveControl->setSpeed(0);
    this->moveControl->setRotationspeed(0);
    this->moveControl->setDrivingStatus(DrivingStatus::stop);
    
    switch (modus) {
        case Modi::Off:
            this->currentModusPtr = nullptr;
            break;

        case Modi::ManualControl: {
            this->currentModusPtr = new ManualControl(this->moveControl);
            }
            break;

        case Modi::CaptureRoute: {
            this->currentModusPtr = new CaptureRoute(this->moveControl, this->navigation);
            }
            break;

        case Modi::Autopilot: {
            this->currentModusPtr = new Autopilot(this->moveControl, this->navigation);
            }
            break;

        case Modi::ConsolControl:
            this->currentModusPtr = nullptr;
            break;

        case Modi::TestMode:
            this->currentModusPtr = nullptr;
            break;
        
        default:
            this->currentModusPtr = nullptr;
            break;
    }
}