using System;
using System.Collections.Generic;
using System.Text;
using System.Threading;
using System.Windows.Forms;
using System.Globalization;
using MeasurementComputing.DAQFlex;


namespace ConsoleApplication1
{
    class Program
    {
    static DaqDevice device;
    static System.IO.StreamWriter file;
    const int period = 150;

        static void Main()
        {
        string[] deviceNames = DaqDeviceManager.GetDeviceNames(DeviceNameFormat.NameAndSerno);
        int deviceNumber = 0;
        string deviceName = deviceNames[deviceNumber];
        Thread th = new Thread(BackFunc);
        file = new System.IO.StreamWriter("voltage.txt");

        //find the device and clear the console
        device = DaqDeviceManager.CreateDevice(deviceName);
        Console.Clear();

        //analog input section (to log pressure)
        Console.SetCursorPosition(0, 0);
                Console.Write("-----------------------------------------------------------------------------\n");
        device.SendMessage("AI:CHMODE=SE");
        Console.WriteLine("Device Info:");
        Console.WriteLine(device.SendMessage("?AI: VALIDCHANS/CHMODE"));
        device.SendMessage("AI:SCALE=ENABLE");
        device.SendMessage("AI{0}:RANGE=BIP10V");

        //analog output section (use this to set temperature in the future)
        device.SendMessage("AO:SCALE=ENABLE");
        device.SendMessage("AO{0}:VALUE=1.21");

        //digital io section (to control solenoids)
        device.SendMessage("DIO{0}:DIR=OUT");
        device.SendMessage("DIO{1}:DIR=OUT");
        Console.WriteLine("Ports Available: " + device.SendMessage("?DIO"));
        Console.WriteLine("Bits on Port 0: " + device.SendMessage("?DIO{0}"));
        Console.WriteLine("Bits on Port 1: " + device.SendMessage("?DIO{1}"));
        Console.Write("-----------------------------------------------------------------------------\n");

        //start polling the device for data
        th.Start();
        Console.ReadLine();

        //clean up and ensure solenoids are off
        th.Abort();
        Console.Clear();
        file.Close();
        device.SendMessage("DIO{1/0}:VALUE=0");
        device.SendMessage("DIO{1/1}:VALUE=0");
        DaqDeviceManager.ReleaseDevice(device);
        }

    static void BackFunc() {
        int i = 0;
        const double gain = 0.076;
                DaqResponse responsePress, responseTemp;
                double pressVoltF, pressVolt, pressF, press, tempVolt, temp;
        double error = 0, lError = 0, cError = 0, slope = 0;
        double iCorr = 0, pCorr = 0, dCorr = 0, correction = 0;
        int intCorrection = 0;
        TimeSpan currTime;
        bool flag = false;
        //set initial values
        double kP = 6;
        double kI = 0.000;
        double kD = 0;
        double setP = 2;


        //get a value to start with for the low pass filter
                responsePress = device.SendMessage("?AI{0}:VALUE");
                pressVoltF = responsePress.ToValue();
        Thread.Sleep(period);

        while(true) {
            currTime = DateTime.Now.Subtract(new DateTime(1970,1,1,0,0,0));

            //get pressue transducer voltage & calibrate
            responsePress = device.SendMessage("?AI{0}:VALUE");
            pressVolt = responsePress.ToValue(); //convert to a decimal number
            pressVoltF += (pressVolt-pressVoltF)*gain;  //use a low pass filter on pressure voltage
            press = (12.5*pressVolt)-6.25; //calibrate according to P=12.5V-6.25
            pressF = (12.5*pressVoltF)-6.25; //pressure based on filtered pressure voltage

            //get temperature voltage & calibrate
            tempVolt = 0;
            temp = 0;

            //PID
            error = setP - pressF;

            //proporitonal section (distance between curve and 0)
            pCorr = kP * error;

            //integral section (accumulation of error --- area under curve)
            cError += error;
            iCorr = kI * cError;

            //derivative section (rate of change of error --- slope of curve)
            slope = error - lError;
            dCorr = kD * slope;
            lError = error;

            correction = 1000*(pCorr + iCorr + dCorr);
            intCorrection = Convert.ToInt32(Math.Round(correction));

            //decision making for correction
            if(intCorrection >= period) {
                intCorrection = period;
                Console.SetCursorPosition(0, 25);
                Console.Write("Limiting max correction to {0}ms\n", period);
            } else if(intCorrection <= (-1*period)) {
                intCorrection = -1*period;
                                Console.SetCursorPosition(0, 25);
                                Console.Write("Limiting min correction to -{0}ms\n", period);
            }

            //display temperature and voltage
            Console.SetCursorPosition(0, 8);
            Console.Write("-----------------------\n");
            Console.Write("Sample #: {0}\n", i++);
            Console.Write("Pressure (V): {0:0.00}\n", pressVolt);
            Console.Write("Pressure Filtered (V): {0:0.00}\n", pressVoltF);
            Console.Write("Pressure (psi): {0:0.00}\n", press);
            Console.Write("Pressure Filtered (psi): {0:0.00}\n", pressF);
            Console.Write("Temperature (V): {0:0.0}\n", tempVolt);
            Console.Write("Temperature (\u00b0C): {0:0.0}\n", temp);
            Console.Write("Time (s): {0}\n", currTime.TotalSeconds);
            Console.Write("Solenoid Duration Period (ms): {0}\n", intCorrection);
            Console.Write("Pressure Setpoint (psi): {0}\n", setP);
                        Console.Write("-----------------------\n");
            Console.Write("\n\nPress any key to exit.....");
            //log the data
            file.Write(currTime.TotalSeconds+"\t"+press+"\t"+pressF+"\n");

            //command the corrected value
            //if(Math.Abs(error) > 0.5) { //sets deadband and chooses solenoid for correction
                if(Math.Abs(intCorrection) >= 50) { //ensures that no modulation happens below 50ms range
                    if(correction >= 0) {
                        //solenoid 1;
                        Console.SetCursorPosition(0, 26);
                        Console.Write("Letting pressure in (Solenoid 1 active)\n");
                        device.SendMessage("DIO{1/1}:VALUE=1"); //turn on
                        Thread.Sleep(Math.Abs(intCorrection)); //wait the correction amount
                        device.SendMessage("DIO{1/1}:VALUE=0"); //turn off
                        flag = true;
                    } else if (correction <0) {
                        //solenoid 2;
                        Console.SetCursorPosition(0, 26);
                        Console.Write("Letting pressure out (Solenoid 2 active)\n");
                        device.SendMessage("DIO{1/0}:VALUE=1"); //turn on
                        Thread.Sleep(Math.Abs(intCorrection)); //wait the correction amount
                        device.SendMessage("DIO{1/0}:VALUE=0"); //turn off
                        flag = true;
                    }
                }
            //}

            //ensure the base period remains the same
            if(flag == true) {
                Thread.Sleep(period-Math.Abs(intCorrection));
                flag = false;
            } else {
                Thread.Sleep(period);
            }
        }
    }
    }
}