/*!
 *
 * Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved.
 * \copyright
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 * \file    CanInterface.cpp
 * \author  (last)      Behrouz NematiPour
 * \date    (last)      18-Jul-2023
 * \author  (original)  Behrouz NematiPour
 * \date    (original)  26-Aug-2020
 *
 */
#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;

    if ( ! initDevice() ) return false;
    if ( ! testDevice() ) return false;

    initConnections();

    status(QString("Connected"));
    QString logMessage = QString("UI,%1,%2")
            .arg(QString("%1 Initialized").arg(metaObject()->className()))
            .arg(status());
    LOG_DEBUG(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)
{
    if ( ! init() ) return false;
    initThread(vThread);
    return true;
}

/*!
 * \brief   CanInterface quit
 * \details quits the class
 *          Calls quitThread
 */
void CanInterface::quit()
{
    quitThread(); // verified
}

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

/*!
 * \brief   CanInterface::enableConsoleOut
 * \details Enables or Disables the console output and logs the status
 * \param   vEnabled - Enable console output if true
 */
void CanInterface::enableConsoleOut(bool vEnabled) {
    if (_enableConsoleOut == vEnabled) return;
    _enableConsoleOut = vEnabled;
    if (_enableConsoleOut) {
        LOG_DEBUG("Console out CanInterface enabled");
    } else {
        LOG_DEBUG("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()
{
    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  (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()));
    moveToThread(_thread);
    _thread->start();
}

/*!
 * \brief   CanInterface::quitThread
 * \details Moves this object to main thread to be handled by QApplication
 *          And to be destroyed there.
 */
void CanInterface::quitThread()
{
    if (! _thread) return;

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

/*!
 * \brief   CanInterface::createDevice
 * \details Creates the CANBus device
 * \return  false if cannot create the device
 */
bool CanInterface::initDevice()
{
    QString mError;
    _canDevice = QCanBus::instance()->createDevice(_canType, _canInterface, &mError);
    if (!_canDevice) {
        status(tr("Device Creation"), mError);
        LOG_DEBUG(status());
        return false;
    }
    _canDevice->setConfigurationParameter(QCanBusDevice::CanFdKey   , _canFDKey     );
    _canDevice->setConfigurationParameter(QCanBusDevice::BitRateKey , _canBitRate   );
    return true;
}

/*!
 * \brief   CanInterface::checkDevice
 * \details Checks if the device has been connected.
 * \return  true on successful device test and connection.
 */
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()
{
    if (!_canDevice) return;
    _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 = QString("%1 '%2[%3]', %4")
            .arg(vDescription)
            .arg(_canType)
            .arg(_canInterface)
            .arg(mError)
            ;
}

/*!
 * \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, const QString &vFrameCount)
{
    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"));
    }
    // the fprintf is used for the colored output
    fprintf(stderr, "%s %s %s %i %s\n", vFrameCount.toLatin1().constData(), time.toLatin1().constData(), flags.toLatin1().constData(), vFrame.frameId(), view.toLatin1().constData());
}

/*!
 * \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()
{
    Types::safeIncrement(_erFrameCount);
    return _erFrameCount;
}

/*!
 * \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 CANBus error handler which sets the can status description
 * \param   vError - CANBus error
 */
void CanInterface::onFrameError(QCanBusDevice::CanBusError vError)
{
    erCount();
    switch (vError) {
    case QCanBusDevice::ReadError:
    case QCanBusDevice::WriteError:
    case QCanBusDevice::ConnectionError:
    case QCanBusDevice::ConfigurationError:
    case QCanBusDevice::UnknownError:
        // log the error each 100k frame and if error is different
        if (_canStatus != _canDevice->errorString() || !(_erFrameCount % 100000)) {
            _canStatus = _canDevice->errorString();
            LOG_DEBUG(QString("%1 - %2").arg(_erFrameCount).arg(_canStatus));
        }
        break;

    default:
        break;

    }
    emit didFrameError(_canStatus);
}

/*!
 * \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 ()
{
    if (!_canDevice) return;
    while (_canDevice->framesAvailable()) {
        const QCanBusFrame frame = _canDevice->readFrame();
        rxCount();
        if ( _enableConsoleOut )
            consoleOut(frame, QString("Rx:%1").arg(_rxFrameCount));
        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();
    if ( _enableConsoleOut )
        consoleOut(vFrame, QString("Tx:%1").arg(_txFrameCount));
    emit didFrameTransmit(ok);
}