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var HID = require('node-hid');

var device;

var cmdDelay = 30;

var ready = false;

var co = false;

var vid;

var hid;

var cbdata;

var cberr;

var cbco;

setInterval(function(){

if(co && !ready){

connect(vid, hid, cbco, cbdata, cberr);

}

}, 10000);

//Init HID

function connect(tvid, thid, tcbco, tcbdata, tcberr){

vid = tvid;

hid = thid;

cbdata = tcbdata;

cberr = tcberr;

cbco = tcbco;

co = true;

try{

device = new HID.HID(vid, hid);

device.on("data", function(data) {

cbdata(data);

});

device.on("error", function(err) {

cberr(err);

ready = false;

});

ready = true;

setTimeout(cbco, 500);

}catch(e){

cberr(e);

ready = false;

}

}

//Integer to hexa

function hex8(val) {

val &= 0xFF;

return val;

}

//Send cmd (header + data) to hid device

function sendCmd(h, d){

if(!ready){

return;

}

var tmp = [];

for (var i = 0; i < h.length; i++) {

tmp.push(h[i]);

}

for (var i = 0; i < d.length; i++) {

tmp.push(d[i]);

}

var sum = 0;

for (var i = 0; i < d.length; i++) {

sum += d[i];

}

while(sum>255){

sum-=255;

}

tmp.push(sum);

tmp.push(0XED);

//console.log("Writing..");

try{

device.write(tmp);

}catch(err){

ready = false;

mod.err(err);

}

}

//Set the angle of a motor

function setAngle(nb, val){

var head = [0XFA, 0XAF];

//NB W/R //angle

var tab = [hex8(nb+1), 0X1, hex8(val), 0X00, 0X00, 0X00];

sendCmd(head, tab);

}

//Free a motor

function freeMotor(nb){

var head = [0XFA, 0XAF];

//NB W/R //angle

var tab = [hex8(nb), 0X2, 0X00, 0X00, 0X00, 0X00];

sendCmd(head, tab);

}

//Set all motor free

var nnnn;

function freeAll_(){

setTimeout(function(){

freeMotor(nnnn);

if(nnnn<16){

nnnn++;

freeAll_();

}

}, cmdDelay);

}

function freeAll(){

nnnn = 1;

freeAll_()

}

//Set position of all motor from tab in parameter

var mmmm;

var t;

function move_(){

setTimeout(function(){

if(t[mmmm] == -1){

while(t[mmmm] == -1 && mmmm < 16){

mmmm++;

}

}

setAngle(mmmm, t[mmmm]);

if(mmmm<16){

mmmm++;

move_();

}

}, cmdDelay);

}

function move(tab){

if(!tab.length && tab.length != 16){

return;

}

t = tab;

mmmm = 0;

move_();

}

function disconnect(){

device.close();

}

module.exports.connect = connect;

module.exports.freeMotor = freeMotor;

module.exports.setAngle = setAngle;

module.exports.freeAll = freeAll;

module.exports.move = move;

module.exports.disconnect = disconnect;