/*
 *
 *      Author: Eugene Shamaev
 */
#ifndef AP_UAVCAN_H_
#define AP_UAVCAN_H_

#include <uavcan/uavcan.hpp>

#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Param/AP_Param.h>

#include <AP_GPS/GPS_Backend.h>
#include <AP_Baro/AP_Baro_Backend.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_BattMonitor/AP_BattMonitor_Backend.h>

#include <uavcan/helpers/heap_based_pool_allocator.hpp>

#ifndef UAVCAN_NODE_POOL_SIZE
#define UAVCAN_NODE_POOL_SIZE 8192
#endif

#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
#define UAVCAN_NODE_POOL_BLOCK_SIZE 256
#endif

#ifndef UAVCAN_SRV_NUMBER
#define UAVCAN_SRV_NUMBER 18
#endif

#define AP_UAVCAN_MAX_LISTENERS 4
#define AP_UAVCAN_MAX_GPS_NODES 4
#define AP_UAVCAN_MAX_MAG_NODES 4
#define AP_UAVCAN_MAX_BARO_NODES 4
#define AP_UAVCAN_MAX_BI_NUMBER 4

#define AP_UAVCAN_SW_VERS_MAJOR 1
#define AP_UAVCAN_SW_VERS_MINOR 0

#define AP_UAVCAN_HW_VERS_MAJOR 1
#define AP_UAVCAN_HW_VERS_MINOR 0

#define AP_UAVCAN_MAX_LED_DEVICES 4

class AP_UAVCAN : public AP_HAL::CANProtocol {
public:
    AP_UAVCAN();
    ~AP_UAVCAN();

    static const struct AP_Param::GroupInfo var_info[];

    // Return uavcan from @driver_index or nullptr if it's not ready or doesn't exist
    static AP_UAVCAN *get_uavcan(uint8_t driver_index);

    void init(uint8_t driver_index) override;


    ///// SRV output /////
    void SRV_push_servos(void);

    ///// LED /////
    bool led_write(uint8_t led_index, uint8_t red, uint8_t green, uint8_t blue);

    ///// GPS /////

    uint8_t find_gps_without_listener(void);

    // this function will register the listening class on a first free channel or on the specified channel
    // if preferred_channel = 0 then free channel will be searched for
    // if preferred_channel > 0 then listener will be added to specific channel
    // return value is the number of assigned channel or 0 if fault
    // channel numbering starts from 1
    uint8_t register_gps_listener(AP_GPS_Backend* new_listener, uint8_t preferred_channel);

    uint8_t register_gps_listener_to_node(AP_GPS_Backend* new_listener, uint8_t node);

    // Removes specified listener from all nodes
    void remove_gps_listener(AP_GPS_Backend* rem_listener);

    // Returns pointer to GPS state connected with specified node.
    // If node is not found and there are free space, locate a new one
    AP_GPS::GPS_State *find_gps_node(uint8_t node);

    // Updates all listeners of specified node
    void update_gps_state(uint8_t node);

    ///// BARO /////

    struct Baro_Info {
        float pressure;
        float pressure_variance;
        float temperature;
        float temperature_variance;
    };

    uint8_t find_smallest_free_baro_node();
    uint8_t register_baro_listener(AP_Baro_Backend* new_listener, uint8_t preferred_channel);
    uint8_t register_baro_listener_to_node(AP_Baro_Backend* new_listener, uint8_t node);
    void remove_baro_listener(AP_Baro_Backend* rem_listener);
    Baro_Info *find_baro_node(uint8_t node);
    void update_baro_state(uint8_t node);

    ///// COMPASS /////

    struct Mag_Info {
        Vector3f mag_vector;
    };

    uint8_t find_smallest_free_mag_node();
    uint8_t register_mag_listener(AP_Compass_Backend* new_listener, uint8_t preferred_channel);
    uint8_t register_mag_listener_to_node(AP_Compass_Backend* new_listener, uint8_t node);
    void remove_mag_listener(AP_Compass_Backend* rem_listener);
    Mag_Info *find_mag_node(uint8_t node, uint8_t sensor_id);
    void update_mag_state(uint8_t node, uint8_t sensor_id);

    ///// BATTERY /////

    struct BatteryInfo_Info {
        float temperature;
        float voltage;
        float current;
        float remaining_capacity_wh;
        float full_charge_capacity_wh;
        uint8_t status_flags;
    };

    uint8_t find_smallest_free_bi_id();
    uint8_t register_BM_bi_listener_to_id(AP_BattMonitor_Backend* new_listener, uint8_t id);
    void remove_BM_bi_listener(AP_BattMonitor_Backend* rem_listener);
    BatteryInfo_Info *find_bi_id(uint8_t id);
    void update_bi_state(uint8_t id);

private:
    class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable {
    public:
        SystemClock() = default;

        void adjustUtc(uavcan::UtcDuration adjustment) override {
            utc_adjustment_usec = adjustment.toUSec();
        }

        uavcan::MonotonicTime getMonotonic() const override {
            return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
        }

        uavcan::UtcTime getUtc() const override {
            return uavcan::UtcTime::fromUSec(AP_HAL::micros64() + utc_adjustment_usec);
        }

        static SystemClock& instance() {
            static SystemClock inst;
            return inst;
        }

    private:
        int64_t utc_adjustment_usec;
    };

    // This will be needed to implement if UAVCAN is used with multithreading
    // Such cases will be firmware update, etc.
    class RaiiSynchronizer {};

    void loop(void);

    ///// SRV output /////
    void SRV_send_actuator();
    void SRV_send_esc();

    ///// LED /////
    void led_out_send();


    // UAVCAN parameters
    AP_Int8 _uavcan_node;
    AP_Int32 _servo_bm;
    AP_Int32 _esc_bm;
    AP_Int16 _servo_rate_hz;


    uavcan::Node<0> *_node;
    uavcan::HeapBasedPoolAllocator<UAVCAN_NODE_POOL_BLOCK_SIZE, AP_UAVCAN::RaiiSynchronizer> _node_allocator;
    uint8_t _driver_index;
    char _thread_name[9];
    bool _initialized;


    ///// SRV output /////
    struct {
        uint16_t pulse;
        bool esc_pending;
        bool servo_pending;
    } _SRV_conf[UAVCAN_SRV_NUMBER];

    uint8_t _SRV_armed;
    uint32_t _SRV_last_send_us;
    AP_HAL::Semaphore *SRV_sem;

    ///// LED /////
    struct led_device {
        uint8_t led_index;
        uint8_t red;
        uint8_t green;
        uint8_t blue;
    };

    struct {
        led_device devices[AP_UAVCAN_MAX_LED_DEVICES];
        uint8_t devices_count;
        uint64_t last_update;
    } _led_conf;

    AP_HAL::Semaphore *_led_out_sem;

    ///// GPS /////
    // 255 - means free node
    uint8_t _gps_nodes[AP_UAVCAN_MAX_GPS_NODES];

    // Counter of how many listeners are connected to this source
    uint8_t _gps_node_taken[AP_UAVCAN_MAX_GPS_NODES];

    // GPS data of the sources
    AP_GPS::GPS_State _gps_node_state[AP_UAVCAN_MAX_GPS_NODES];

    // 255 - means no connection
    uint8_t _gps_listener_to_node[AP_UAVCAN_MAX_LISTENERS];

    // Listeners with callbacks to be updated
    AP_GPS_Backend* _gps_listeners[AP_UAVCAN_MAX_LISTENERS];

    ///// BARO /////
    uint8_t _baro_nodes[AP_UAVCAN_MAX_BARO_NODES];
    uint8_t _baro_node_taken[AP_UAVCAN_MAX_BARO_NODES];
    Baro_Info _baro_node_state[AP_UAVCAN_MAX_BARO_NODES];
    uint8_t _baro_listener_to_node[AP_UAVCAN_MAX_LISTENERS];
    AP_Baro_Backend* _baro_listeners[AP_UAVCAN_MAX_LISTENERS];

    ///// COMPASS /////
    uint8_t _mag_nodes[AP_UAVCAN_MAX_MAG_NODES];
    uint8_t _mag_node_taken[AP_UAVCAN_MAX_MAG_NODES];
    Mag_Info _mag_node_state[AP_UAVCAN_MAX_MAG_NODES];
    uint8_t _mag_node_max_sensorid_count[AP_UAVCAN_MAX_MAG_NODES];
    uint8_t _mag_listener_to_node[AP_UAVCAN_MAX_LISTENERS];
    AP_Compass_Backend* _mag_listeners[AP_UAVCAN_MAX_LISTENERS];
    uint8_t _mag_listener_sensor_ids[AP_UAVCAN_MAX_LISTENERS];

    ///// BATTERY /////
    uint16_t _bi_id[AP_UAVCAN_MAX_BI_NUMBER];
    uint16_t _bi_id_taken[AP_UAVCAN_MAX_BI_NUMBER];
    BatteryInfo_Info _bi_id_state[AP_UAVCAN_MAX_BI_NUMBER];
    uint16_t _bi_BM_listener_to_id[AP_UAVCAN_MAX_LISTENERS];
    AP_BattMonitor_Backend* _bi_BM_listeners[AP_UAVCAN_MAX_LISTENERS];
};

#endif /* AP_UAVCAN_H_ */