#include "Valve.h"

#include "gpio_common.h"

using namespace std::chrono;


Valve::Valve(uint gpio_motor1, uint gpio_motor2, uint gpio_start, uint gpio_end)
	: motor1(gpio_motor1)
	, motor2(gpio_motor2)
	, start_pin(gpio_start)
	, end_pin(gpio_end) {
	gpio_init_out(motor1);
	gpio_init_out(motor2);
	gpio_init_input(start_pin);
	gpio_init_input(end_pin);
	start_time = steady_clock::now();
}


void Valve::open() {
	if (state == State::Opening || pending_state == State::Opening) {
		return;
	}
	gpio_put(motor2, 0);
	gpio_put(motor1, 1);
	state      = State::Opening;
	start_time = steady_clock::now();
}


void Valve::close() {
	if (state == State::Closing || pending_state == State::Closing) {
		return;
	}
	gpio_put(motor1, 0);
	gpio_put(motor2, 1);
	state      = State::Closing;
	start_time = steady_clock::now();
}

Valve::State Valve::process() {
	if ((state == State::Opening) && (gpio_get(start_pin) == 0)) {
		gpio_put(motor1, 0);
		state = State::Opened;
	}
	if ((state == State::Closing) && (gpio_get(end_pin) == 0)) {
		gpio_put(motor2, 0);
		state = State::Closed;
	}
	if (state == State::Opening || state == State::Closing) {
		if (duration_cast<seconds>(steady_clock::now() - start_time) > timeout) {
			gpio_put(motor1, 0);
			gpio_put(motor2, 0);
			state = pending_state = State::Unknown;
		}
	}
	return state;
}