/*
 * Copyright (c) 2018 TOYOTA MOTOR CORPORATION
 *
 * 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.
 */


#include "low_can_client.hpp"
#include "json_helper.hpp"
#include "hmi-debug.h"

extern "C" {
#include <afb/afb-binding.h>
}


namespace wm {

LowCanClient::LowCanClient() :
  vehicle_speed_(0),
  trans_gear_pos_(0),
  headlamp_status_(FALSE),
  parking_brake_status_(TRUE),
  accel_pedal_pos_(0),
  accel_pedal_stt_(FALSE),
  lightstatus_brake_status_(TRUE),
  is_changed_accel_pedal_stt_(false)
{
    HMI_DEBUG("wm:lcc", "Call");
}

void LowCanClient::initialize() {
    HMI_DEBUG("wm:lcc", "Call");

    int ret;

    // Require API "low-can"
    ret = afb_daemon_require_api_v2("low-can", 1);
    if (0 > ret) {
        HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed");
        return;
    }

    // Subscribe low-level-can
    // low-can subscribe { "event": "vehicle.speed" }
    // low-can subscribe { "event": "transmission_gear_position" }
    // low-can subscribe { "event": "headlamp_status" }
    // low-can subscribe { "event": "parking_brake_status" }
    // low-can subscribe { "event": "accelerator.pedal.position" }
    // low-can subscribe { "event": "lightstatus.brake" }
    for (int i=SignalNoMin; i<=SignalNoMax; i++) {
        // Set Event
        json_object *json_obj = json_object_new_object();
        json_object_object_add(json_obj, "event",
                               json_object_new_string(this->kSignalName_[i]));

        // Set filter
        if (0 != strcmp("", this->kFilterValue_[i])) {
            json_object_object_add(json_obj, "filter",
                                   json_tokener_parse(this->kFilterValue_[i]));
        }
        HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));

        // Subscribe
        json_object *json_result = json_object_new_object();
        ret = afb_service_call_sync("low-can", "subscribe", json_obj, &json_result);
        if (0 > ret) {
            HMI_INFO("wm:lcc", "Could not subscribe to \"low-can\" :%d", ret);
        }
        HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(json_result));
    }

    return;
}

const char* LowCanClient::analyzeCanSignal(struct json_object *object) {
    HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));

    const char* name = jh::getStringFromJson(object, "name");
    HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);

    if (strstr(name, this->kSignalName_[SignalNoVehicliSpeed])) {
        // Update vehicle speed
        this->vehicle_speed_ = jh::getIntFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
    }
    else if (strstr(name, this->kSignalName_[SignalNoTransGearPos])) {
        // Update transmission gear position
        this->trans_gear_pos_ = jh::getIntFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
    }
    else if (strstr(name, this->kSignalName_[SignalNoHeadlame])) {
        // Update headlamp status
        this->headlamp_status_ = jh::getBoolFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
    }
    else if (strstr(name, this->kSignalName_[SignalNoParkingBrake])) {
        // Update parking gear status
        this->parking_brake_status_ = jh::getBoolFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
    }
    else if (strstr(name, this->kSignalName_[SignalNoAccelPedalPos])) {
        // Clear flag for whether accel pedal state is changed
        this->is_changed_accel_pedal_stt_ = false;

        // Update accelerator pedal status
        this->accel_pedal_pos_ = jh::getDoubleFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update accelerator pedal position:%lf", this->accel_pedal_pos_);

        bool accel_pedal_stt;
        if (0 != this->accel_pedal_pos_) {
            accel_pedal_stt = true;
        }
        else {
            accel_pedal_stt = false;
        }

        if (accel_pedal_stt != this->accel_pedal_stt_) {
            this->is_changed_accel_pedal_stt_ = true;
            this->accel_pedal_stt_ = accel_pedal_stt;
        }
    }
    else if (strstr(name, this->kSignalName_[SignalNoLightstatusBrake])) {
        // Update lightstatus brake status
        this->lightstatus_brake_status_ = jh::getBoolFromJson(object, "value");
        HMI_DEBUG("wm:lcc", "Update lightstatus brake status:%d", this->lightstatus_brake_status_);
    }

    return name;
}

bool LowCanClient::isChangedAccelPedalState() {
    HMI_DEBUG("wm:lcc", "Call");

    return this->is_changed_accel_pedal_stt_;
}

int LowCanClient::getCurrentTransGearState() {
    HMI_DEBUG("wm:lcc", "Call");

    return this->trans_gear_pos_;
}

bool LowCanClient::getCurrentHeadlampState() {
    HMI_DEBUG("wm:lcc", "Call");

    return (bool)this->headlamp_status_;
}

bool LowCanClient::getCurrentParkingBrakeState() {
    HMI_DEBUG("wm:lcc", "Call");

    return (bool)this->parking_brake_status_;
}

double LowCanClient::getCurrentAccelPedalPosition() {
    HMI_DEBUG("wm:lcc", "Call");

    return this->accel_pedal_pos_;
}

bool LowCanClient::getCurrentAccelPedalState() {
    HMI_DEBUG("wm:lcc", "Call");

    return this->accel_pedal_stt_;
}

bool LowCanClient::getCurrentLightstatusBrakeState() {
    HMI_DEBUG("wm:lcc", "Call");

    return (bool)this->lightstatus_brake_status_;
}


} // namespace wm