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PID_ModuleNames    = [ "PID" ];
PID_Intervals      = function() { return [ 1, 5, 10, 15, 20 ]; };
//PID_Energy         = function() { return [ 0, 500, 1000, 5000, 10000 ]; };
PID_Temperatures    = function() { return [ 20, 25, 30, 35 ]; };
PID_Constants       = function() { return [ 0, 0.1, 0.5, 1, 10, 100, 1000 ]; };
PID_TimeUnits   = function() { return [ "s", "ms"]; };
PID_Times   = function() { return [ 1, 5, 10, 15, 20, 40, 60]; };
PID_Aliases        = function() { return Module_GetAliasNames(PID_ModuleNames); };
PID_AvailableIds   = function() { return Module_GetAvailableIds(PID_ModuleNames); };

function PID_SetReportInterval(alias_name, interval)
{
    if (arguments.length < 2)
    {
        Log("\033[31mNot enough parameters given.\033[0m\n");
        return false;
    }
    
    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
    var found = false;
    
    for (var name in aliases_data)
    {
        var variables = {"Time"     : interval };
        
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Report_Interval", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
        }
        
        found = true;
    }
    
    if (!found)
    {
        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
        return false;
    }
    
    return true;
}
Console_RegisterCommand(PID_SetReportInterval, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Intervals()); });


function PID_setValue(alias_name, temperature)
{
    if (arguments.length < 2)
    {
        Log("\033[31mNot enough parameters given.\033[0m\n");
        return false;
    }
    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
    var found = false;
    
    Log ("Called SetValue: "+temperature+"\n");

    for (var name in aliases_data)
    {
        var variables = {   "Value"     : temperature,
                    "SensorId"     : 0 };
        
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Temperature_Celsius", variables))
        {
            Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
        }
        
        found = true;
    }

    if (!found)
    {
        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
        return false;
    }

    return true;
}
Console_RegisterCommand(PID_setValue, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Temperatures());  });


function PID_setParameters(alias_name, KP,KI,KD,Time,Unit)
{
    if (arguments.length < 6)
    {
        Log("\033[31mNot enough parameters given.\033[0m\n");
        return false;
    }
    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
    var found = false;

    for (var name in aliases_data)
    {
        var variables = {   "K_P"     : KP,
                    "K_I"     : KI,
                    "K_D"     : KD,
                    "RegulatorTime"     : Time,
                    "TimeUnit"     : Unit };
        var variables_P_I = {   "K_P"     : KP,
                    "K_I"     : KI };
        var variables_D_T = {   "K_D"     : KD,
                    "RegulatorTime"     : Time,
                    "TimeUnit"     : Unit };
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
        {
            Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
            Log("\033[32mK_P = " + KP + "K_I = " + KI + "K_D = " + KD + "RegTime = " + Time + "Unit = " + Unit + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
        }
        
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables_P_I))
        {
            Log("\033[32mK_P = " + KP + "K_I = " + KI + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
        }
        
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables_D_T))
        {
            Log("\033[32mK_D = " + KD + "RegTime = " + Time + "Unit = " + Unit + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
        }
        
        found = true;
    }

    if (!found)
    {
        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
        return false;
    }

    return true;
}
Console_RegisterCommand(PID_setParameters, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants(), PID_Constants(), PID_Times(), PID_TimeUnits()); });

function PID_getConfiguration(alias_name)
{
    if (arguments.length < 1)
    {
        Log("\033[31mNot enough parameters given.\033[0m\n");
        return false;
    }
    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
    var found = false;

    for (var name in aliases_data)
    {
        var variables = {};
        
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_SENSOR", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 1 to " + name + ".\033[0m\n");
        }
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ACTUATOR", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 2 to " + name + ".\033[0m\n");
        }
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 3 to " + name + ".\033[0m\n");
        }
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Report_Interval", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 4 to " + name + ".\033[0m\n");
        }
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 5 to " + name + ".\033[0m\n");
        }
        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables))
        {
            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
        }
        else
        {
            Log("\033[31mFailed to send command 6 to " + name + ".\033[0m\n");
        }
        found = true;
    }

    if (!found)
    {
        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
        return false;
    }

    return true;
}
Console_RegisterCommand(PID_getConfiguration, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases()); });

function PID_OnMessage(module_name, module_id, command, variables)
{
    if (in_array(PID_ModuleNames, module_name))
    {
        var aliases_data = Module_LookupAliases({
            "module_name" : module_name,
            "module_id"   : module_id,
            "group"       : false
        });
        
        switch (command)
        {
            case "DEBUG":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["Debug"] = { "value" : { "P_term" : variables["P_term"],"I_term" : variables["I_term"],"D_term" : variables["D_term"],"Sum" : variables["Sum"] }, "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                    //Log("Got message DEBUG");
                }
            break;
            case "CONFIG_SENSOR":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["Sensor"] = { "value" : { "sensorModuleType" : variables["sensorModuleType"],"sensorModuleId" : variables["sensorModuleId"],"sensorId" : variables["sensorId"] }, "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                }
            break;
            case "CONFIG_ACTUATOR":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["Actuator"] = { "value" : { "actuatorModuleType" : variables["actuatorModuleType"],"actuatorModuleId" : variables["actuatorModuleId"],"actuatorId" : variables["actuatorId"] }, "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                }
            break;
            case "CONFIG_PARAMETER":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["Parameters"] = { "value" : { "K_P" : variables["K_P"],"K_I" : variables["K_I"],"K_D" : variables["K_D"],"TimeUnit" : variables["TimeUnit"],"RegulatorTime" : variables["RegulatorTime"] }, "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                }
            break;
            case "PID_STATUS":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["PID_status"] = { "value" : { "Measurment" : variables["Measurment"],"Reference" : variables["Reference"],"PWM" : variables["PWM"],"Sum" : variables["Sum"] }, "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                }
    //log("PID status: mea:" + this.Measurment + " ref:" + this.Reference + " pwm:" + this.PWM/100 + " sum:" + this.Sum + "\n");
                //this.callEvent("newValue", canMessage.getData("Id"));

    //var self = this;
    //  this.myHTTP.request(function(result, header, content) { self.httpCallback(result, header, content); }, "linuxz.mine.nu/canlogg/add.php?measurment="+ this.Measurment + "&reference="+this.Reference+"&pwm="+this.PWM/100+"&sum="+this.Sum+"&p="+this.K_P+"&i="+this.K_I+"&d="+this.K_D+"&timeunit="+this.TimeUnit+"&pidtime="+this.RegulatorTime+"");
            break;
            case "Temperature_Celsius":
                for (var alias_name in aliases_data)
                {
                    var last_value = {};
                    var last_value_string = Storage_GetParameter("LastValues", alias_name);

                    if (last_value_string)
                    {
                        last_value = eval("(" + last_value_string + ")");
                    }
                    
                    last_value["Reference"] = { "value" : variables["Value"], "timestamp" : get_time() };
                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                }   
                break;
            case "Report_Interval":
                this.myReportInterval = canMessage.getData("Time");
                break;
        }
    }
}
Module_RegisterToOnMessage("all", PID_OnMessage);