/*!
 *
 * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
 * \copyright                                                       \n
 *          THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM,  \n
 *          IN PART OR IN WHOLE,                                    \n
 *          WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. \n
 *
 * \file    caninterface.cpp
 * \date    2019/09/30
 * \author  Behrouz NematiPour
 *
 */
#include "caninterface.h"

// Qt
#include <QThread>
#include <QApplication>

// stl
#include <stdint.h>

// Project
#include "logger.h"
#include "messageglobals.h"
#include "frameinterface.h"

// namespace
using namespace Can;

/*!
 * \brief   CanInterface::CanInterface
 * \details Constructor
 * \param   parent - QObject parent owner object.
 *          Qt handles the children destruction by their parent objects life-cycle.
 */
CanInterface::CanInterface(QObject *parent) : QObject(parent) { }

/*!
 * \brief   CanInterface Initialization
 * \details Initializes the CANBUS and checks if can be connected
 * \return  true if connected, false otherwise
 */
bool CanInterface::init()
{
    if ( _init ) return false;
    _init = true;

    // coco begin validated: Manually tested since required to disable and enable the canbus
    if ( ! initDevice() ) return false;
    // coco end
    if ( ! testDevice() ) return false;

    initConnections();

    status(tr("Connected"));
    QString logMessage = QString("UI,%1,%2")
                             .arg(tr("%1 Initialized").arg(metaObject()->className()))
                             .arg(status());
    LOG_EVENT(logMessage);

    return true;
}

/*!
 * \brief   CanInterface::init
 * \details Initialized the Class by calling the init() method first
 *          And initializes the thread vThread by calling initThread
 *          on success init().
 * \param   vThread - the thread
 * \return  returns the return value of the init() method
 */
bool CanInterface::init(QThread &vThread)
{
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if ( ! init() ) return false;
    // coco end
    initThread(vThread);
    return true;
}

/*!
 * \brief   CanInterface quit
 * \details quits the class
 *          Calls quitThread
 */
void CanInterface::quit()
{
    // coco begin validated: Application termination is not correctly done in coco!!!
    // it has been tested and works perfectly fine in normal run.
    quitThread(); // verified
}
// coco end

/*!
 * \brief   CanInterface status
 * \details CanInterface status description
 * \return  The current stores status
 */
QString CanInterface::status() const
{
    return _canStatus;
}

/*!
 * \brief   CanInterface::enableConsoleOut
 * \details Enable or Disables the console output and logs the status
 * \param   vEnabled - Enalbe console output if true
 */
void CanInterface::enableConsoleOut(bool vEnabled) {
    if (_enableConsoleOut == vEnabled) return;
    _enableConsoleOut = vEnabled;
    if (_enableConsoleOut) {
        LOG_EVENT("UI," + tr("Console out CanInterface enabled"));
    } else {
        LOG_EVENT("UI," + tr("Console out CanInterface disabled"));
    }
}

/*!
 * \brief   CanInterface connections definition
 * \details Initializes the required signal/slot connection between this class and other objects
 *          to be able to communicate.
 */
void CanInterface::initConnections()
{
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if (_canDevice) {
        // coco end
        connect(_canDevice, SIGNAL( framesReceived()),
                this      , SLOT  (onFrameReceive ()));

        connect(_canDevice, SIGNAL(  errorOccurred(QCanBusDevice::CanBusError)),
                this      , SLOT  (onFrameError   (QCanBusDevice::CanBusError)));

        connect(_canDevice, SIGNAL(  framesWritten(qint64)),
                this      , SLOT  (onFrameWritten (qint64)));
    }
    connect(&_FrameInterface, SIGNAL(didFrameTransmit(QCanBusFrame)),
            this            ,   SLOT( onFrameTransmit(QCanBusFrame)));
}

/*!
 * \brief   CanInterface::initThread
 * \details Moves this object into the thread vThread.
 *          And checks that this method is called from main thread.
 *          Also connects quitThread to application aboutToQuit.
 * \param   vThread - the thread
 */
void CanInterface::initThread(QThread &vThread)
{
    // runs in main thread
    Q_ASSERT_X(QThread::currentThread() == qApp->thread() , __func__, "The Class initialization must be done in Main Thread" );
    _thread = &vThread;
    _thread->setObjectName(QString("%1_Thread").arg(metaObject()->className()));
    connect(qApp, SIGNAL(aboutToQuit()), this, SLOT(quit()));
    _thread->start();
    moveToThread(_thread);
}

/*!
 * \brief   CanInterface::quitThread
 * \details Moves this object to main thread to be handled by QApplicaiton
 *          And to be destroyed there.
 */
void CanInterface::quitThread()
{
    // coco begin validated: Application termination is not correctly done in coco!!!
    // it has been tested and works perfectly fine in normal run.

    if (! _thread) return;

    // runs in thread
    moveToThread(qApp->thread()); // verified
}
// coco end

/*!
 * \brief   CanInterface::createDevice
 * \details Creates the CANBus device
 * \return  false if can't create the device
 */
bool CanInterface::initDevice()
{
    QString mError;
    _canDevice = QCanBus::instance()->createDevice(_canType, _canInterface, &mError);
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if (!_canDevice) {
        status(tr("Device Creation"), mError);
        LOG_DEBUG(status());
        return false;
    }
    // coco end
    return true;
}

/*!
 * \brief   CanInterface::checkDevice
 * \details Checks if the device has been connected.
 * \return
 */
bool CanInterface::testDevice()
{
    if (!_canDevice->connectDevice()) {
        status(tr("Connection"));
        LOG_DEBUG(status());
        delete _canDevice;
        _canDevice = nullptr;
        return false;
    }
    return true;
}

/*!
 * \brief   CanInterface::deleteDevice
 * \details Disconnect the CANBus device and deletes the pointer
 */
void CanInterface::quitDevice()
{
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if (!_canDevice) return;
    // coco end
    _canDevice->disconnectDevice();
    delete _canDevice;
    _canDevice = nullptr;
    status(tr("Disconnected"));
}

/*!
 * \brief   CanInterface status
 * \details Sets the Can interface status description
 * \param   vDescription - Description about the CANBUS Interface errors
 * \param   vError       - Qt CANBUS Interface Error
 */
void CanInterface::status(const QString &vDescription, QString vError)
{
    QString mError="";
    if (_canDevice) {
        mError = _canDevice->errorString() + vError;
    }
    else {
        mError = vError;
    }
    _canStatus = tr("%1 '%2[%3]', %4")
            .arg(vDescription)
            .arg(_canType)
            .arg(_canInterface)
            .arg(mError)
            ;
    qDebug() << _canStatus;
}

/*!
 * \brief   CanInterface send
 * \details send a frame over the CANBUS
 * \param   vFrame - CANBUS message frame
 */
bool CanInterface::transmit(const QCanBusFrame &vFrame)
{
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if( !_canDevice ) return false;
    //coco end
    return _canDevice->writeFrame(vFrame);
}

/*!
 * \brief   CanInterface console Output messaging
 * \details Sends out formatted CANBUS message to the console
 *          for debugging purposes.
 * \param   vFrame - The CANBUS frame to be sent out
 */
void CanInterface::consoleOut(const QCanBusFrame &vFrame, const QString &vFrameCount)
{
    // coco begin validated: This code is only for debugging purposes and had been tested manually.
    if ( ! _enableConsoleOut ) return;

    const QString time = QString::fromLatin1("%1.%2 ")
            .arg(vFrame.timeStamp().seconds(), 10, 10, QLatin1Char(' '))
            .arg(vFrame.timeStamp().microSeconds() / 100, 4, 10, QLatin1Char('0'));
    const QString flags = frameFlags(vFrame);
    QString view;
    if (vFrame.frameType() == QCanBusFrame::ErrorFrame) {
        view = _canDevice->interpretErrorFrame(vFrame);
    }
    else {
        view = vFrame.payload().toHex('.').replace(QByteArray("a5"),QByteArray("\033[1;33mA5\033[0m"));
    }
    fprintf(stderr, "%s %s %s %i %s\n", vFrameCount.toLatin1().constData(), time.toLatin1().constData(), flags.toLatin1().constData(), vFrame.frameId(), view.toLatin1().constData());
}
// coco end

/*!
 * \brief   CanInterface::rxCount
 * \details count received frames up the size of the FrameCount type size
 * \return  frame count
 */
FrameCount CanInterface::rxCount()
{
    Types::safeIncrement(_rxFrameCount);
    return _rxFrameCount;
}

/*!
 * \brief   CanInterface::txCount
 * \details count transmitted frames up the size of the FrameCount type size
 * \return  frame count
 */
FrameCount CanInterface::txCount()
{
    Types::safeIncrement(_txFrameCount);
    return _txFrameCount;
}

/*!
 * \brief   CanInterface::erCount
 * \details count errors happened
 * \return  error count
 */
FrameCount CanInterface::erCount()
{
    // coco begin validated: CANBus error handling has been tested manually.
    // since it requires massive can messages sent/received to catch the error
    Types::safeIncrement(_erFrameCount);
    return _erFrameCount;
    // coco end
}

/*!
 * \brief   frameFlags
 * \details CANBUS message frame type as flags
 * \param   vFrame - CANBUS message frame
 * \return  Frame flag as QString
 */
QString CanInterface::frameFlags(const QCanBusFrame &vFrame)
{
    // coco begin validated: CANBus error handling has been tested manually.
    // since it requires massive can messages sent/received to catch the error
    QString result = QLatin1String(" --- ");

    if (vFrame.hasBitrateSwitch())
        result[1] = QLatin1Char('B');
    if (vFrame.hasErrorStateIndicator())
        result[2] = QLatin1Char('E');
    if (vFrame.hasLocalEcho())
        result[3] = QLatin1Char('L');

    return result;
    // coco end
}

/*!
 * \brief   CanInterface onError
 * \details Can Bus error handler which sets the can status description
 * \param   vError - CANBUS error
 */
void CanInterface::onFrameError(QCanBusDevice::CanBusError vError)
{
    // coco begin validated: CANBus error handling has been tested manually.
    // since it requires massive can messages sent/received to catch the error
    erCount();
    switch (vError) {
    case QCanBusDevice::ReadError:
    case QCanBusDevice::WriteError:
    case QCanBusDevice::ConnectionError:
    case QCanBusDevice::ConfigurationError:
    case QCanBusDevice::UnknownError:
        _canStatus = _canDevice->errorString();
        LOG_DEBUG(QString("%1 - %2").arg(_erFrameCount).arg(_canStatus));
        break;

    default:
        break;

    }
    emit didFrameError(_canStatus);
}
// coco end

/*!
 * \brief   CanInterface::onFrameWritten
 * \details This is the slot connected to the signal
 *          which is emitted every time a payload of frames
 *          has been written to the CANBUS bus.
 * \param   vFramesCount - The framesCount argument is set to the number of frames
 *          that were written in this payload.
 */
void CanInterface::onFrameWritten(qint64 vFramesCount)
{
    static FrameCount mFrameCount = 0;
    Types::safeIncrement(mFrameCount, vFramesCount);
    emit didFrameWritten(vFramesCount);
}

/*!
 * \brief   CanInterface onFrameReceived
 * \details CANBUS message read handler
 */
void CanInterface::onFrameReceive ()
{
    // coco begin validated: Manually tested since required to disable and enable the canbus
    if (!_canDevice) return;
    // coco end
    while (_canDevice->framesAvailable()) {
        const QCanBusFrame frame = _canDevice->readFrame();
        rxCount();
        // coco begin validated: This code is only for debugging purposes and had been tested manually.
        if ( _enableConsoleOut )
            consoleOut(frame, QString("Rx:%1").arg(_rxFrameCount));
        // coco end
        emit didFrameReceive(frame);
    }
}

/*!
 * \brief   CanInterface onActionPerform
 * \details sends a CANBUS message frame of the CANBUS message of the performed action
 *          This is a response from application UI to HD device
 * \param   vFrame - CANBUS message frame
 */
void CanInterface::onFrameTransmit(const QCanBusFrame &vFrame)
{
    bool ok = transmit(vFrame);
    txCount();
    // coco begin validated: This code is only for debugging purposes and had been tested manually.
    if ( _enableConsoleOut )
        consoleOut(vFrame, QString("Tx:%1").arg(_txFrameCount));
    // coco end
    emit didFrameTransmit(ok);
}