/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h"

#ifndef AP_RANGEFINDER_RDS02UF_ENABLED
#define AP_RANGEFINDER_RDS02UF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif

#if AP_RANGEFINDER_RDS02UF_ENABLED

// In order to save MCU resources, CRC check is not used
#define RDS02_USE_CRC 0
#define RDS02_BUFFER_SIZE 50

class AP_RangeFinder_RDS02UF : public AP_RangeFinder_Backend_Serial
{

public:

    static AP_RangeFinder_Backend_Serial *create(
        RangeFinder::RangeFinder_State &_state,
        AP_RangeFinder_Params &_params) {
        return new AP_RangeFinder_RDS02UF(_state, _params);
    }

protected:

    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
        return MAV_DISTANCE_SENSOR_RADAR;
    }


private:
    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;

    // Data Format for Benewake Rds02UF
    // ===============================
    // 21 bytes total per message:
    // 1) 0x55
    // 2) 0x55
    // 3) address
    // 4) error_code
    // 5) FC_CODE_L (low 8bit)
    // 6) FC_CODE_H (high 8bit)
    // 7) LENGTH_L (low 8bit)
    // 8) LENGTH_H (high 8bit)
    // 9) REAL_DATA (10Byte)
    // 10) CRC8
    // 11) END_1 0xAA
    // 12) END_2 0xAA
    /// enum for handled messages
    enum class RDS02UF_PARSE_STATE {
        STATE0_SYNC_1 = 0,
        STATE1_SYNC_2,
        STATE2_ADDRESS,
        STATE3_ERROR_CODE,
        STATE4_FC_CODE_L,
        STATE5_FC_CODE_H,
        STATE6_LENGTH_L,
        STATE7_LENGTH_H,
        STATE8_REAL_DATA,
        STATE9_CRC,
        STATE10_END_1,
        STATE11_END_2
    };

    RDS02UF_PARSE_STATE decode_state;
    uint8_t parser_index;
    uint8_t parser_buffer[RDS02_BUFFER_SIZE];
    float _distance_m;

    // get a distance reading
    bool get_reading(float &reading_m) override;
    uint16_t read_timeout_ms() const override { return 3000; }
    uint8_t crc8(uint8_t *pbuf, int32_t len);
    bool decode(uint8_t c);

#if RDS02_USE_CRC
    const uint8_t crc8_table[256] = {
        0x93,0x98,0xE4,0x46,0xEB,0xBA,0x04,0x4C,
        0xFA,0x40,0xB8,0x96,0x0E,0xB2,0xB7,0xC0,
        0x0C,0x32,0x9B,0x80,0xFF,0x30,0x7F,0x9D,
        0xB3,0x81,0x58,0xE7,0xF1,0x19,0x7E,0xB6,
        0xCD,0xF7,0xB4,0xCB,0xBC,0x5C,0xD6,0x09,
        0x20,0x0A,0xE0,0x37,0x51,0x67,0x24,0x95,
        0xE1,0x62,0xF8,0x5E,0x38,0x15,0x54,0x77,
        0x63,0x57,0x6D,0xE9,0x89,0x76,0xBE,0x41,
        0x5D,0xF9,0xB1,0x4D,0x6C,0x53,0x9C,0xA2,
        0x23,0xC4,0x8E,0xC8,0x05,0x42,0x61,0x71,
        0xC5,0x00,0x18,0x6F,0x5F,0xFB,0x7B,0x11,
        0x65,0x2D,0x8C,0xED,0x14,0xAB,0x88,0xD5,
        0xD9,0xC2,0x36,0x34,0x7C,0x5B,0x3C,0xF6,
        0x48,0x0B,0xEE,0x02,0x83,0x79,0x17,0xE6,
        0xA8,0x78,0xF5,0xD3,0x4E,0x50,0x52,0x91,
        0xD8,0xC6,0x22,0xEC,0x3B,0xE5,0x3F,0x86,
        0x06,0xCF,0x2B,0x2F,0x3D,0x59,0x1C,0x87,
        0xEF,0x4F,0x10,0xD2,0x7D,0xDA,0x72,0xA0,
        0x9F,0xDE,0x6B,0x75,0x56,0xBD,0xC7,0xC1,
        0x70,0x1D,0x25,0x92,0xA5,0x31,0xE2,0xD7,
        0xD0,0x9A,0xAF,0xA9,0xC9,0x97,0x08,0x33,
        0x5A,0x99,0xC3,0x16,0x84,0x82,0x8A,0xF3,
        0x4A,0xCE,0xDB,0x29,0x0F,0xAE,0x6E,0xE3,
        0x8B,0x07,0x3A,0x74,0x47,0xB0,0xBB,0xB5,
        0x7A,0xAA,0x2C,0xD4,0x03,0x3E,0x1A,0xA7,
        0x27,0x64,0x06,0xBF,0x55,0x73,0x1E,0xFE,
        0x49,0x01,0x39,0x28,0xF4,0x26,0xDF,0xDD,
        0x44,0x0D,0x21,0xF2,0x85,0xB9,0xEA,0x4B,
        0xDC,0x6A,0xCA,0xAC,0x12,0xFC,0x2E,0x2A,
        0xA3,0xF0,0x66,0xE8,0x60,0x45,0xA1,0x8D,
        0x68,0x35,0xFD,0x8F,0x9E,0x1F,0x13,0xD1,
        0xAD,0x69,0xCC,0xA4,0x94,0x90,0x1B,0x43,
    };
#endif
};
#endif  // AP_RANGEFINDER_RDS02UF_ENABLED