#include <AP_HAL/AP_HAL.h>

#if HAL_WITH_UAVCAN

#include "AP_Baro_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>

#if HAL_OS_POSIX_IO
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#endif

extern const AP_HAL::HAL& hal;

#define debug_baro_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)

/*
  constructor - registers instance at top Baro driver
 */
AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
    AP_Baro_Backend(baro)
{
    _sem_baro = hal.util->new_semaphore();
}

AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{
    if (_initialized) {
        if (hal.can_mgr[_manager] != nullptr) {
            AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
            if (ap_uavcan != nullptr) {
                ap_uavcan->remove_baro_listener(this);
                debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
            }
        }
    }
}

AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
    AP_Baro_UAVCAN *sensor = nullptr;

    if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) {
        for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
            if (hal.can_mgr[i] != nullptr) {
                AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
                if (uavcan != nullptr) {
                    uint8_t freebaro = uavcan->find_smallest_free_baro_node();
                    if (freebaro != UINT8_MAX) {
                        sensor = new AP_Baro_UAVCAN(baro);
                        if (sensor->register_uavcan_baro(i, freebaro)) {
                            debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
                            return sensor;
                        } else {
                            delete sensor;
                            sensor = nullptr;
                        }
                    }
                }
            }
        }
    }

    return sensor;
}

// Read the sensor
void AP_Baro_UAVCAN::update(void)
{
    if (_sem_baro->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
        _copy_to_frontend(_instance, _pressure, _temperature);

        _frontend.set_external_temperature(_temperature);
        _sem_baro->give();
    }
}

void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
{
    if (_sem_baro->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
        _pressure = pressure;
        _temperature = temperature - C_TO_KELVIN;
        _last_timestamp = AP_HAL::micros64();
        _sem_baro->give();
    }
}

bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{
    if (hal.can_mgr[mgr] != nullptr) {
        AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();

        if (ap_uavcan != nullptr) {
            _manager = mgr;

            if (ap_uavcan->register_baro_listener_to_node(this, node))
            {
                _instance = _frontend.register_sensor();
                debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");

                _initialized = true;

                return true;
            }
        }
    }

    return false;
}

#endif // HAL_WITH_UAVCAN