/*
  simple UAVCAN network sniffer as an ArduPilot firmware
 */
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>

#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_WITH_UAVCAN

#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL_ChibiOS/CAN.h>

#include <AP_UAVCAN/AP_UAVCAN.h>

#include <uavcan/uavcan.hpp>

#include <uavcan/helpers/heap_based_pool_allocator.hpp>

#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>

#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>

#include <uavcan/equipment/actuator/ArrayCommand.hpp>
#include <uavcan/equipment/actuator/Command.hpp>
#include <uavcan/equipment/actuator/Status.hpp>

#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include <uavcan/equipment/indication/SingleLightCommand.hpp>
#include <uavcan/equipment/indication/RGB565.hpp>

#include <uavcan/equipment/power/BatteryInfo.hpp>

void setup();
void loop();

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

#define UAVCAN_NODE_POOL_SIZE 8192
#define UAVCAN_NODE_POOL_BLOCK_SIZE 256

#define debug_uavcan(fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)

class UAVCAN_sniffer {
public:
    UAVCAN_sniffer();
    ~UAVCAN_sniffer();

    void init(void);
    void loop(void);
    void print_stats(void);

private:
    uint8_t driver_index = 0;

    class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable {
        SystemClock()
        {
        }

        uavcan::UtcDuration utc_adjustment;
        virtual void adjustUtc(uavcan::UtcDuration adjustment)
        {
            utc_adjustment = adjustment;
        }

    public:
        virtual uavcan::MonotonicTime getMonotonic() const
        {
            uavcan::uint64_t usec = 0;
            usec = AP_HAL::micros64();
            return uavcan::MonotonicTime::fromUSec(usec);
        }
        virtual uavcan::UtcTime getUtc() const
        {
            uavcan::UtcTime utc;
            uavcan::uint64_t usec = 0;
            usec = AP_HAL::micros64();
            utc.fromUSec(usec);
            utc += utc_adjustment;
            return utc;
        }

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

    uavcan::Node<0> *_node;

    uavcan::ISystemClock& get_system_clock();

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

        ~RaiiSynchronizer()
        {
        }
    };

    uavcan::HeapBasedPoolAllocator<UAVCAN_NODE_POOL_BLOCK_SIZE, UAVCAN_sniffer::RaiiSynchronizer> _node_allocator;
};

static struct {
    const char *msg_name;
    uint32_t count;
} counters[100];

static void count_msg(const char *name)
{
    for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
        if (counters[i].msg_name == name) {
            counters[i].count++;
            break;
        }
        if (counters[i].msg_name == nullptr) {
            counters[i].msg_name = name;
            counters[i].count++;
            break;
        }
    }
}

#define MSG_CB(mtype, cbname)                                                  \
    static void cb_ ## cbname(const uavcan::ReceivedDataStructure<mtype>& msg) { count_msg(msg.getDataTypeFullName()); }

MSG_CB(uavcan::protocol::NodeStatus, NodeStatus)
MSG_CB(uavcan::equipment::gnss::Fix, Fix)
MSG_CB(uavcan::equipment::gnss::Auxiliary, Auxiliary)
MSG_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength)
MSG_CB(uavcan::equipment::ahrs::MagneticFieldStrength2, MagneticFieldStrength2);
MSG_CB(uavcan::equipment::air_data::StaticPressure, StaticPressure)
MSG_CB(uavcan::equipment::air_data::StaticTemperature, StaticTemperature)
MSG_CB(uavcan::equipment::power::BatteryInfo, BatteryInfo);
MSG_CB(uavcan::equipment::actuator::ArrayCommand, ArrayCommand)
MSG_CB(uavcan::equipment::esc::RawCommand, RawCommand)
MSG_CB(uavcan::equipment::indication::LightsCommand, LightsCommand);

void UAVCAN_sniffer::init(void)
{
    uint8_t interface = 0;
    AP_HAL::CANManager* can_mgr = new ChibiOS::CANManager;
    
    if (can_mgr == nullptr) {
        AP_HAL::panic("Couldn't allocate CANManager, something is very wrong");
    }

    const_cast <AP_HAL::HAL&> (hal).can_mgr[driver_index] = can_mgr;
    can_mgr->begin(1000000, interface);
    can_mgr->initialized(true);

    if (!can_mgr->is_initialized()) {
        debug_uavcan("Can not initialised\n");
        return;
    }

    uavcan::ICanDriver* driver = can_mgr->get_driver();
    if (driver == nullptr) {
        return;
    }

    _node = new uavcan::Node<0>(*driver, get_system_clock(), _node_allocator);

    if (_node == nullptr) {
        return;
    }

    if (_node->isStarted()) {
        return;
    }

    uavcan::NodeID self_node_id(9);
    _node->setNodeID(self_node_id);

    char ndname[20];
    snprintf(ndname, sizeof(ndname), "org.ardupilot:%u", driver_index);

    uavcan::NodeStatusProvider::NodeName name(ndname);
    _node->setName(name);

    uavcan::protocol::SoftwareVersion sw_version; // Standard type uavcan.protocol.SoftwareVersion
    sw_version.major = AP_UAVCAN_SW_VERS_MAJOR;
    sw_version.minor = AP_UAVCAN_SW_VERS_MINOR;
    _node->setSoftwareVersion(sw_version);

    uavcan::protocol::HardwareVersion hw_version; // Standard type uavcan.protocol.HardwareVersion

    hw_version.major = AP_UAVCAN_HW_VERS_MAJOR;
    hw_version.minor = AP_UAVCAN_HW_VERS_MINOR;
    _node->setHardwareVersion(hw_version);

    int start_res = _node->start();
    if (start_res < 0) {
        debug_uavcan("UAVCAN: node start problem\n\r");
        return;
    }

#define START_CB(mtype, cbname) (new uavcan::Subscriber<mtype>(*_node))->start(cb_ ## cbname)

    START_CB(uavcan::protocol::NodeStatus, NodeStatus);
    START_CB(uavcan::equipment::gnss::Fix, Fix);
    START_CB(uavcan::equipment::gnss::Auxiliary, Auxiliary);
    START_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength);
    START_CB(uavcan::equipment::ahrs::MagneticFieldStrength2, MagneticFieldStrength2);
    START_CB(uavcan::equipment::air_data::StaticPressure, StaticPressure);
    START_CB(uavcan::equipment::air_data::StaticTemperature, StaticTemperature);
    START_CB(uavcan::equipment::power::BatteryInfo, BatteryInfo);
    START_CB(uavcan::equipment::actuator::ArrayCommand, ArrayCommand);
    START_CB(uavcan::equipment::esc::RawCommand, RawCommand);
    START_CB(uavcan::equipment::indication::LightsCommand, LightsCommand);


    /*
     * Informing other nodes that we're ready to work.
     * Default mode is INITIALIZING.
     */
    _node->setModeOperational();

    debug_uavcan("UAVCAN: init done\n\r");
}

uavcan::ISystemClock & UAVCAN_sniffer::get_system_clock()
{
    return SystemClock::instance();
}

void UAVCAN_sniffer::loop(void)
{
    if (_node == nullptr) {
        return;
    }

    _node->spin(uavcan::MonotonicDuration::fromMSec(1));
}

void UAVCAN_sniffer::print_stats(void)
{
    hal.console->printf("%lu\n", AP_HAL::micros());
    for (uint16_t i=0;i<100;i++) {
        if (counters[i].msg_name == nullptr) {
            break;
        }
        hal.console->printf("%s: %u\n", counters[i].msg_name, unsigned(counters[i].count));
        counters[i].count = 0;
    }
    hal.console->printf("\n");
}

static UAVCAN_sniffer sniffer;

UAVCAN_sniffer::UAVCAN_sniffer() :
    _node_allocator(UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_SIZE)
{}

UAVCAN_sniffer::~UAVCAN_sniffer()
{
}

void setup(void)
{
    hal.scheduler->delay(2000);
    hal.console->printf("Starting UAVCAN sniffer\n");
    sniffer.init();
}

void loop(void)
{
    sniffer.loop();
    static uint32_t last_print_ms;
    uint32_t now = AP_HAL::millis();
    if (now - last_print_ms >= 1000) {
        last_print_ms = now;
        sniffer.print_stats();
    }

    // auto-reboot for --upload
    if (hal.console->available() > 50) {
        hal.console->printf("rebooting\n");
        while (hal.console->available()) {
            hal.console->read();
        }
        hal.scheduler->reboot(false);
    }
    while (hal.console->available()) {
        hal.console->read();
    }
}

AP_HAL_MAIN();

#else

#include <stdio.h>

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

static void loop() { }
static void setup()
{
    printf("Board not currently supported\n");
}

AP_HAL_MAIN();
#endif