/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

/********************************************************************************
*
*		CanBus method implementation
*
*********************************************************************************/

int CanBus_c::open()
{
	const int canfd_on = 1;
	struct ifreq ifr;
	struct timeval timeout = {1, 0};

	DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
	if (socket >= 0)
		close(socket);

	socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
	if (socket < 0)
	{
		ERROR(interface, "open_can_dev: socket could not be created");
	}
	else
	{
		/* Set timeout for read */
		setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
		/* try to switch the socket into CAN_FD mode */
		if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
		{
			NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
			is_fdmode_on = false;
		} else {
			is_fdmode_on = true;
		}

		/* Attempts to open a socket to CAN bus */
		strcpy(ifr.ifr_name, device);
		if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
			ERROR(interface, "open_can_dev: ioctl failed");
		else
		{
			txAddress.can_family = AF_CAN;
			txAddress.can_ifindex = ifr.ifr_ifindex;

			/* And bind it to txAddress */
			if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
			{
				ERROR(interface, "open_can_dev: bind failed");
			}
			else
			{
				fcntl(socket, F_SETFL, O_NONBLOCK);
				return 0;
			}
		}
		close(socket);
		socket = -1;
	}
	return -1;
}

int CanBus_c::close()
{
	close(socket);
	socket = -1;
}

void CanBus_c::start_threads()
{
	std::queue <CanMessage_t> can_message_q;

    th_reading = std::thread(can_reader, interface, socket, can_message_q);
    th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_queue);
    th_pushing = std::thread(can_event_push, interface, can_message_queue);
}

/********************************************************************************
*
*		CanMessage method implementation
*
*********************************************************************************/

uint32_t CanMessage_c::get_id()
{
    return id;
}

int CanMessage_c::get_format()
{
    return format;
}

uint8_t CanMessage_c::get_data()
{
    return data;
}
uint8_t CanMessage_c::get_lenght()
{
    return lenght;
}

void CanMessage_c::set_id(uint32_t new_id)
{
    switch(format):
        case SIMPLE:
            id = new_id & CAN_SFF_MASK;
        case EXTENDED:
            id = new_id & CAN_EFF_MASK;
        default:
            ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
}

void CanMessage_c::set_format(CanMessageFormat new_format)
{
    if(new_format == SIMPLE || new_format == EXTENDED)
        format = new_format;
    else
        ERROR(interface, "ERROR: Can set format, wrong format chosen");
}

void CanMessage_c::set_data(uint8_t new_data)
{
    data = new_data;
}

void CanMessage_c::set_lenght(uint8_t new_length)
{
    lenght = new_lenght;
}

/*
 * This is the prefered way to initialize a CanMessage object 
 * from a read canfd_frame message.
 * 
 * params: canfd_frame pointer
 */
void CanMessage_c::convert_canfd_frame_to_CanMessage(canfd_frame *frame)
{
    
	lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;

	switch (canfd_frame->can_id): 
        case (canfd_frame->can_id & CAN_ERR_FLAG):
		    id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
            break;
        case (canfd_frame->can_id & CAN_EFF_FLAG):
		    id = canfd_frame->can_id & CAN_EFF_MASK;
    		format = EXTENDED;
			break;
		default:
			format = STANDARD;
			id = canfd_frame->can_id & CAN_SFF_MASK;
			break;

	if (sizeof(canfd_frame->data) <= sizeof(data))
	{
		for (i = 0; i < lenght; i++)
			can_message->data.bytes[i] = canfd_frame->data[i];
		return 0;
	} else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
		ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
}