/*!
 *
 * Copyright (c) 2019-2019 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 <QDebug>

// Project
#include "messagehandler.h"

// namespace
using namespace Can;

// Singleton
SINGLETON_INIT(CanInterface)

/*!
 * \brief Caninterface Constructor
 * \param parent object
 */
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()
{
    QString mError;
    _canDevice = QCanBus::instance()->createDevice(_canType, _canInterface, &mError);
    if (!_canDevice) {
        status(tr("Error: Device Creation"),mError);
        return false;
    }

    _numberFramesWritten = 0;

    initConnections();

    if (!_canDevice->connectDevice()) {
        status(tr("Error: Connection"));
        delete _canDevice;
        _canDevice = nullptr;
        return false;
    }
    status(tr("Connected"));
    return true;
}

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

/*!
 * \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()
{
    if (_canDevice) {
        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  (onFrameWrittern(qint64)));

    }
    connect(_MessageHandler, SIGNAL(didFrameTransmit(QCanBusFrame)),
            this           ,   SLOT( onFrameTransmit(QCanBusFrame)));
}

/*!
 * \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)
{
    if( !_canDevice )
        return false;
    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)
{
    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 %i %s\n", time.toLatin1().constData(), flags.toLatin1().constData(), vFrame.frameId(), view.toLatin1().constData());
}

/*!
 * \brief   CanInterface quit
 * \details Quit the CANBUS Interface by disconnecting the bus and device.
 */
void CanInterface::quit()
{
    if (!_canDevice)
        return;

    _canDevice->disconnectDevice();
    delete _canDevice;
    _canDevice = nullptr;

    status(tr("Disconnected"));
}

/*!
 * \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)
{
    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;
}

/*!
 * \brief   CanInterface onError
 * \details Can Bus error handler which sets the can status description
 * \param   vError - CANBUS error
 */
void CanInterface::onFrameError(QCanBusDevice::CanBusError vError)
{
    switch (vError) {
    case QCanBusDevice::ReadError:
    case QCanBusDevice::WriteError:
    case QCanBusDevice::ConnectionError:
    case QCanBusDevice::ConfigurationError:
    case QCanBusDevice::UnknownError:
        _canStatus = _canDevice->errorString();
        break;
    default:
        break;
    }
    emit didFrameError(_canStatus);
}

/*!
 * \brief   CanInterface::onFrameWrittern
 * \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::onFrameWrittern(qint64 /*vFramesCount*/)
{
    //_numberFramesWritten = vFramesCount;
    //qDebug() << "onFrameWrittern::FramesCount : " << vFramesCount;
}

/*!
 * \brief   CanInterface onFrameReceived
 * \details CANBUS message read handler
 */
void CanInterface::onFrameReceive ()
{
    if (!_canDevice)
        return;

    while (_canDevice->framesAvailable()) {
        const QCanBusFrame frame = _canDevice->readFrame();
        consoleOut(frame);
        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);
    emit didFrameTransmit(ok);
}