(function (window, $, undefined) {

'use strict';

var ROVpilot;

ROVpilot = function ROVpilot(cockpit) {

console.log("Loading ROVpilot plugin in the browser.");

// Instance variables
this.cockpit = cockpit;
this.power = .1; //default to mid power
this.vtrim = 0; //default to no trim
this.ttrim = 0;
this.tilt = 0;
this.light = 0;
this.sendToROVEnabled = true;
this.positions = {
throttle: 0,
yaw: 0,
lift: 0
};
this.sendUpdateEnabled = true;
var SAMPLE_PERIOD = 1000 / CONFIG.sample_freq; //ms
var trimHeld = false;

this.priorControls = {};

// Add required UI elements

$("#menu").prepend('<div id="example" class="hidden">[example]</div>');
$("#footercontent").prepend(
'<div class="span1 pull-left"> \
<h6>Thrust&nbsp;Factor</h6><div class="label badge"
id="thrustfactor">&nbsp;</div> \
</div>');
$('#keyboardInstructions').append('<p>press <i>i</i> to toggle lights</p>');
$('#keyboardInstructions').append('<p>press <i>[</i> to enable ESCs</p>');
$('#keyboardInstructions').append('<p>press <i>]</i> to disable ESCs</p>');
$('#keyboardInstructions').append('<p>press <i>m</i> to toggle heading hold
(BETA)</p>');
$('#keyboardInstructions').append('<p>press <i>n</i> to toggle depth hold
(BETA)</p>');
$('#navtoolbar').append('<li><a href="#" id="gamepad" class="hidden"><img
id="gamepadPopover" src="themes/OpenROV/img/gamepad.png" rel="popover"></a></li>');

var self = this;

setInterval(function() {
self.sendPilotingData();
}, SAMPLE_PERIOD);

this.listen();
$("#thrustfactor").text(2);

};

//This pattern will hook events in the cockpit and pull them all back
//so that the reference to this instance is available for further processing
ROVpilot.prototype.listen = function listen() {
var rov = this;
 cockpitEventEmitter.on("gamepad.connected",function(){
$('#gamepad').toggleClass('hidden',false);
});

cockpitEventEmitter.on("gamepad.disconnected",function(){
$('#gamepad').toggleClass('hidden',true);
});

GAMEPAD.DPAD_UP = {BUTTON_DOWN: function()

{cockpitEventEmitter.emit('rovpilot.adjustLights',.1)} };
GAMEPAD.DPAD_DOWN = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.adjustLights',-.1)} };
GAMEPAD.Y = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.adjustCameraTilt',.1)} };
GAMEPAD.B = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.setCameraTilt',0)} };
GAMEPAD.A = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.adjustCameraTilt',-.1)} };
GAMEPAD.RB = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.toggleAllTrimHold')} };
GAMEPAD.START = {BUTTON_DOWN: function()
{cockpitEventEmitter.emit('rovpilot.incrimentPowerLevel')} };

GAMEPAD.LEFT_STICK_X = {AXIS_CHANGED: function(v)

{cockpitEventEmitter.emit('rovpilot.setYaw',v)} };
GAMEPAD.LEFT_STICK_Y = {AXIS_CHANGED: function(v)
{cockpitEventEmitter.emit('rovpilot.setThrottle',-1*v)} };
GAMEPAD.RIGHT_STICK_Y = {AXIS_CHANGED: function(v)
{cockpitEventEmitter.emit('rovpilot.setLift',-1*v)} };

KEYS[32] = {keydown: function()

{ cockpitEventEmitter.emit('rovpilot.allStop')}};// space (all-stop)
KEYS[38] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setThrottle',1)},
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setThrottle',0)}}; // up (forward)
KEYS[40] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setThrottle',-1)},
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setThrottle',0)}}; // down (aft)
KEYS[37] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setYaw',-1)},
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setYaw',0)}};// left (turn left)
KEYS[39] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setYaw',1)},
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setYaw',0)}};// right (turn right)
KEYS[16] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setLift',-1)},// shift (lift up)
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setLift',0)}};
KEYS[17] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setLift',1)}, //ctrl (lift down)
keyup: function()
{ cockpitEventEmitter.emit('rovpilot.setLift',0)}};
KEYS[49] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerLevel',1)}}; //1
 KEYS[50] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerLevel',2)}}; //2
KEYS[51] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerLevel',3)}}; //3
KEYS[52] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerLevel',4)}}; //4
KEYS[53] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerLevel',5)}}; //5
KEYS[55] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustVerticleTrim',1)}}; //7 (vtrim)
KEYS[56] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustVerticleTrim',-1)}}; //8 (vttrim)
KEYS[57] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustThrottleTrim',-1)}}; //9 (ttrim -)
KEYS[48] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustThrottleTrim',1)}}; //0 (ttrim +)
KEYS[81] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustCameraTilt',.1)}}; //Q (tilt up)
KEYS[65] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.setCameraTilt',0)}}; //A (tilt fwd)
KEYS[90] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustCameraTilt',-.1)}}; //Z (tilt down)
KEYS[80] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustLights',.1)}}; //p (brightness up)
KEYS[79] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.adjustLights',-.1)}}; //o (brightness down)
KEYS[76] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.toggleLasers');}}; //l (laser toggle)
//KEYS[73] = {keydown: function(){ rov.toggleLights();}}; //i (laser
lights)
KEYS[73] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.toggleLights');}}; //i (laser lights)
KEYS[219] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerOnESCs');}}; //[
KEYS[221] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.powerOffESCs');}}; //]
KEYS[77] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.toggleholdHeading');}}; //m
KEYS[78] = {keydown: function()
{ cockpitEventEmitter.emit('rovpilot.toggleholdDepth');}}; //n

cockpitEventEmitter.on('rovpilot.allStop',function(){ rov.allStop()});
cockpitEventEmitter.on('rovpilot.setThrottle',function(v)
{ rov.setThrottle(v)});
cockpitEventEmitter.on('rovpilot.setYaw',function(v){ rov.setYaw(v)});
cockpitEventEmitter.on('rovpilot.setLift',function(v){ rov.setLift(v)});
cockpitEventEmitter.on('rovpilot.powerLevel',function(v)
{ rov.powerLevel(v)});
cockpitEventEmitter.on('rovpilot.adjustVerticleTrim',function(v)
{ rov.adjustVerticleTrim(v)});
cockpitEventEmitter.on('rovpilot.adjustThrottleTrim',function(v)
{ rov.adjustThrottleTrim(v)});
cockpitEventEmitter.on('rovpilot.adjustCameraTilt',function(v)
{ rov.adjustCameraTilt(v)});
cockpitEventEmitter.on('rovpilot.setCameraTilt',function(v)
{ rov.setCameraTilt(v)});
cockpitEventEmitter.on('rovpilot.adjustLights',function(v)
{ rov.adjustLights(v)});
cockpitEventEmitter.on('rovpilot.toggleLasers',function(v)
{ rov.toggleLasers()});
cockpitEventEmitter.on('rovpilot.toggleLights',function(v)
{ rov.toggleLights()});
cockpitEventEmitter.on('rovpilot.incrimentPowerLevel', function()
{ rov.incrimentPowerLevel()});
cockpitEventEmitter.on('rovpilot.powerOnESCs', function()
{ rov.powerOnESCs()});
cockpitEventEmitter.on('rovpilot.powerOffESCs', function()
{ rov.powerOffESCs()});
cockpitEventEmitter.on('rovpilot.toggleholdHeading', function()
{ rov.toggleholdHeading()});
cockpitEventEmitter.on('rovpilot.toggleholdDepth', function()
{ rov.toggleholdDepth()});
cockpitEventEmitter.on('rovpilot.manualMotorThrottle', function(p,v,s)
{ rov.manualMotorThrottle(p,v,s)});
cockpitEventEmitter.on('rovpilot.disable', function(){rov.disablePilot()});
cockpitEventEmitter.on('rovpilot.enable', function(){rov.enablePilot()});

};

var lastSentManualThrottle = new Object();

lastSentManualThrottle.port = 0;
lastSentManualThrottle.vertical = 0;
lastSentManualThrottle.starbord = 0;

ROVpilot.prototype.disablePilot = function disablePilot(){

this.sendToROVEnabled = false;
console.log("disabled rov pilot.");
};

ROVpilot.prototype.enablePilot = function enablePilot(){

this.sendToROVEnabled = true;
console.log("enabled rov pilot.");
};

ROVpilot.prototype.manualMotorThrottle = function
manualMotorThrottle(port,vertical,starbord){
var maxdiff = 0;
maxdiff = Math.max(maxdiff,Math.abs(port-lastSentManualThrottle.port));
maxdiff = Math.max(maxdiff,Math.abs(vertical-
lastSentManualThrottle.vertical));
maxdiff = Math.max(maxdiff,Math.abs(starbord-
lastSentManualThrottle.starbord));
if (vertical < 0) vertical = vertical*2; //make up for async props

if (maxdiff > .001) {

// this.cockpit.socket.emit('motor_test', {
// port: 1500 + (-port * 500),
// starbord: 1500 + (-starbord * 500),
// vertical: 1500 + (vertical * 500)
// });

this.cockpit.socket.emit('motor_test', {
port: -port * this.power ,
starbord: -starbord * this.power,
vertical: vertical * this.power
});
 lastSentManualThrottle.port = port;
lastSentManualThrottle.vertical = vertical;
lastSentManualThrottle.starbord = starbord;
}
}

ROVpilot.prototype.setCameraTilt = function setCameraTilt(value){

this.tilt=value;
if (this.tilt > 1) this.tilt =1;
if (this.tilt < -1) this.tilt = -1;
this.cockpit.socket.emit('tilt_update',this.tilt);
};

ROVpilot.prototype.adjustCameraTilt = function adjustCameraTilt(value){

this.tilt+=value;
this.setCameraTilt(this.tilt);
};

ROVpilot.prototype.setLights = function setLights(value){

this.light = value;
if (this.light>1) this.light = 1;
if (this.light<0) this.light = 0;
this.cockpit.socket.emit('brightness_update',this.light);
};

ROVpilot.prototype.adjustLights = function adjustLights(value){

if (this.light==0 && value<0){ //this code rounds the horn so to speak by
jumping from zero to max and vise versa
this.light = 0; //disabled the round the horn feature
} else if (this.light==1 && value>0){
this.light = 1; //disabled the round the horn feature
} else {
this.light += value;
}
this.setLights(this.light);
};

ROVpilot.prototype.toggleLasers = function toggleLasers(){

this.cockpit.socket.emit('laser_update');
};

ROVpilot.prototype.toggleLights = function toggleLights(){

if (this.light>0) {
this.setLights(0);
} else {
this.setLights(1);
}
};

ROVpilot.prototype.toggleholdHeading = function toggleholdHeading(){

this.cockpit.socket.emit('holdHeading_toggle');
};

ROVpilot.prototype.toggleholdDepth = function toggleholdDepth(){

this.cockpit.socket.emit('holdDepth_toggle');
};

ROVpilot.prototype.powerOnESCs = function powerOnESCs(){

this.cockpit.socket.emit('escs_poweron');
};

ROVpilot.prototype.powerOffESCs = function powerOffESCs(){

this.cockpit.socket.emit('escs_poweroff');
};

ROVpilot.prototype.adjustVerticleTrim = function adjustVerticleTrim(value){

this.vtrim+=value;
this.positions.lift = (1/1000)*this.vtrim;
};

ROVpilot.prototype.adjustThrottleTrim = function adjustThrottleTrim(value){

this.ttrim+=value;
this.positions.throttle = (1/1000)*this.ttrim;
};

ROVpilot.prototype.toggleAllTrimHold = function toggleAllTrimHold(){

trimHeld = !bool;
if (trimHeld) {
this.ttrim=positions.throttle;
this.vtrim=positions.throttle;
}
};

ROVpilot.prototype.setThrottle = function setThrottle(value){

this.positions.throttle = value;
if (value==0) this.positions.throttle = this.ttrim;
};

ROVpilot.prototype.setLift = function setLift(value){

this.positions.lift = value;
if (value==0) this.positions.lift = this.vtrim;
};

ROVpilot.prototype.setYaw = function setYaw(value){

this.positions.yaw = value;
};

ROVpilot.prototype.incrimentPowerLevel = function incrimentPowerLevel(){

var currentPowerLevel = $("#thrustfactor").text();
currentPowerLevel++;
if (currentPowerLevel>5) currentPowerLevel = 1;
this.powerLevel(currentPowerLevel);
}

ROVpilot.prototype.powerLevel = function powerLevel(value){

switch(value){
case 1:
this.power = .05
break;
case 2:
this.power = .1
break;
case 3:
this.power = .2
break;
case 4:
this.power = .5
break;
 case 5:
this.power = 1
break;
}
$("#thrustfactor").text(value);
};

ROVpilot.prototype.allStop = function allStop(){

this.vtrim = 0;
this.ttrim = 0;
this.positions.throttle = 0;
this.positions.yaw = 0;
this.positions.lift = 0;
};

ROVpilot.prototype.sendPilotingData = function sendPilotingData(){

var positions = this.positions;
var updateRequired = false; //Only send if there is a change
var controls = {};

controls.throttle = positions.throttle * this.power;

//*************change by chris siegert to lower turning power

//also to keep the lift power from reducing below .2
if(this.power > .2 )
{
controls.yaw = positions.yaw * this.power;

}
else
{
controls.yaw = positions.yaw * .2;

//controls.yaw = positions.yaw * this.power;

controls.lift = positions.lift * this.power;
//****************************************************************
for(var i in positions) {

if (controls[i] != this.priorControls[i])
{
updateRequired = true;
}
}

if((this.sendUpdateEnabled && updateRequired)||

(this.sendToROVEnabled==false)){
if (this.sendToROVEnabled) {
this.cockpit.socket.emit('control_update', controls);

}
cockpitEventEmitter.emit('rovpilot.control_update',controls);
this.priorControls = controls;
};
}
 window.Cockpit.plugins.push(ROVpilot);

}(window, jQuery));