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/***************************************************************************

 *   Copyright (C) November 28, 2008 by Mattias Runge                             *

 *   mattias@runge.se                                                      *

 *   canidtranslator.cpp                                            *

 *                                                                         *

 *   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 2 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, write to the                         *

 *   Free Software Foundation, Inc.,                                       *

 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *

 ***************************************************************************/

#include "canidtranslator.h"

CanIdTranslator* CanIdTranslator::myInstance = NULL;

CanIdTranslator& CanIdTranslator::getInstance()

{

    if (myInstance == NULL)

    {

        myInstance = new CanIdTranslator();

    }

    return *myInstance;

}

void CanIdTranslator::deleteInstance()

{

    delete myInstance;

    myInstance = NULL;

}

CanIdTranslator::CanIdTranslator()

{

    SyslogStream &slog = SyslogStream::getInstance();

    string filename = Settings::get("CanIdXMLFile");

    if (file_exists(filename))

    {

        xmlNode.load(filename.c_str());

        slog << "Loading definitions from " + filename + ".\n";

    }

    else

    {

        slog << "CanIdXMLFile is not defined in the config file, this will probably not work at all.\n";

    }

}

string CanIdTranslator::lookupClassName(int classId)

{

    XmlNode classesNode = xmlNode.findChild("classes");

    vector<XmlNode> classNodes = classesNode.getChildren();

    for (int n = 0; n < classNodes.size(); n++)

    {

        map<string, string> attributes = classNodes[n].getAttributes();

        if (stoi(attributes["id"]) == classId)

        {

            return attributes["name"];

        }

    }

    return "";

}

int CanIdTranslator::resolveClassId(string className)

{

    XmlNode classesNode = xmlNode.findChild("classes");

    vector<XmlNode> classNodes = classesNode.getChildren();

    for (int n = 0; n < classNodes.size(); n++)

    {

        map<string, string> attributes = classNodes[n].getAttributes();

        if (attributes["name"].compare(className) == 0)

        {

            return stoi(attributes["id"]);

        }

    }

    return -1;

}

string CanIdTranslator::lookupCommandName(int commandId, string moduleName)

{

    XmlNode commandsNode = xmlNode.findChild("commands");

    vector<XmlNode> commandNodes = commandsNode.getChildren();

    for (int n = 0; n < commandNodes.size(); n++)

    {

        map<string, string> attributes = commandNodes[n].getAttributes();

        if (commandId >= 128)

        {

            if (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName)

            {

                return attributes["name"];

            }

        }

        else if (stoi(attributes["id"]) == commandId)

        {

            return attributes["name"];

        }

    }

    return "";

}

int CanIdTranslator::resolveCommandId(string commandName, string moduleName)

{

    XmlNode commandsNode = xmlNode.findChild("commands");

    vector<XmlNode> commandNodes = commandsNode.getChildren();

    for (int n = 0; n < commandNodes.size(); n++)

    {

        map<string, string> attributes = commandNodes[n].getAttributes();

        if (attributes["name"].compare(commandName) == 0)

        {

            int commandId = stoi(attributes["id"]);

            if (commandId >= 128)

            {

                if (attributes["module"] == moduleName)

                {

                    return commandId;

                }

            }

            else

            {

                return commandId;

            }

        }

    }

    return -1;

}

string CanIdTranslator::getDefineId(string name, string group)

{

    XmlNode definesNode = xmlNode.findChild("defines");

    vector<XmlNode> defineNodes = definesNode.getChildren();

    for (int n = 0; n < defineNodes.size(); n++)

    {

        map<string, string> attributes = defineNodes[n].getAttributes();

        if (attributes["group"] == group && attributes["name"] == name)

        {

            return attributes["id"];

        }

    }

    return "";

}

string CanIdTranslator::lookupDirectionFlag(int directionFlag)

{

    XmlNode definesNode = xmlNode.findChild("defines");

    vector<XmlNode> defineNodes = definesNode.getChildren();

    for (int n = 0; n < defineNodes.size(); n++)

    {

        map<string, string> attributes = defineNodes[n].getAttributes();

        if (attributes["group"].compare("DirectionFlag") == 0 && stoi(attributes["id"]) == directionFlag)

        {

            return attributes["name"];

        }

    }

    return "";

}

int CanIdTranslator::resolveDirectionFlag(string directionName)

{

    XmlNode definesNode = xmlNode.findChild("defines");

    vector<XmlNode> defineNodes = definesNode.getChildren();

    for (int n = 0; n < defineNodes.size(); n++)

    {

        map<string, string> attributes = defineNodes[n].getAttributes();

        if (attributes["group"].compare("DirectionFlag") == 0 && attributes["name"].compare(directionName) == 0)

        {

            return stoi(attributes["id"]);

        }

    }

    return -1;

}

string CanIdTranslator::lookupModuleName(int moduleId)

{

    XmlNode modulesNode = xmlNode.findChild("modules");

    vector<XmlNode> moduleNodes = modulesNode.getChildren();

    for (int n = 0; n < moduleNodes.size(); n++)

    {

        map<string, string> attributes = moduleNodes[n].getAttributes();

        if (stoi(attributes["id"]) == moduleId)

        {

            return attributes["name"];

        }

    }

    return "";

}

int CanIdTranslator::resolveModuleId(string moduleName)

{

    XmlNode modulesNode = xmlNode.findChild("modules");

    vector<XmlNode> moduleNodes = modulesNode.getChildren();

    for (int n = 0; n < moduleNodes.size(); n++)

    {

        map<string, string> attributes = moduleNodes[n].getAttributes();

        if (attributes["name"].compare(moduleName) == 0)

        {

            return stoi(attributes["id"]);

        }

    }

    return -1;

}

string CanIdTranslator::translateDataToHex(int commandId, string moduleName, map<string, CanVariable> data)

{

    XmlNode commandsNode = xmlNode.findChild("commands");

    vector<XmlNode> commandNodes = commandsNode.getChildren();

    map<string, CanVariable> sortedData;

    for (int n = 0; n < commandNodes.size(); n++)

    {

        map<string, string> attributes = commandNodes[n].getAttributes();

        bool correct = false;

        if (commandId >= 128)

        {

            if (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName)

            {

                correct = true;

            }

        }

        else if (stoi(attributes["id"]) == commandId)

        {

            correct = true;

        }

        if (correct)

        {

            XmlNode varablesNode = commandNodes[n].findChild("variables");

            vector<XmlNode> variableNodes = varablesNode.getChildren();

            for (int c = 0; c < variableNodes.size(); c++)

            {

                map<string, string> attributes = variableNodes[c].getAttributes();

                if (data.find(attributes["name"]) != data.end())

                {

                    int bitStart = stoi(attributes["start_bit"]);///FIXME: This is not a good way

                    int bitLength = stoi(attributes["bit_length"]);

                    sortedData[attributes["name"]].setType(attributes["type"]);

                    sortedData[attributes["name"]].setUnit(attributes["unit"]);

                    sortedData[attributes["name"]].setBitLength(bitLength);

                    sortedData[attributes["name"]].setBitLength(bitLength);

                    sortedData[attributes["name"]].setStartBit(bitStart);

                    sortedData[attributes["name"]].setName(attributes["name"]);

                    sortedData[attributes["name"]].setValue(data[attributes["name"]].getValue());

                }

            }

        }

    }

    string bin = "0000000000000000000000000000000000000000000000000000000000000000";

    int heighestBit = 0;

    map<string, CanVariable>::iterator iter;

    for (iter = sortedData.begin(); iter != sortedData.end(); iter++)///FIXME: We should check order and length

    {

        if (iter->second.getType() == "uint")

        {

            if (iter->second.getStartBit() + iter->second.getBitLength() > heighestBit)

                heighestBit = iter->second.getStartBit() + iter->second.getBitLength();

            //cout << iter->first << ":" <<  stoi(iter->second.getValue()) << endl;

            unsigned int a = stoi(iter->second.getValue());

            bin.replace(iter->second.getStartBit(), iter->second.getBitLength(), uint2bin(a, iter->second.getBitLength()));

        }

        else if (iter->second.getType() == "float")

        {

            if (iter->second.getStartBit() + iter->second.getBitLength() > heighestBit)

                heighestBit = iter->second.getStartBit() + iter->second.getBitLength();

            bin.replace(iter->second.getStartBit(), iter->second.getBitLength(), float2bin(stof(iter->second.getValue()), iter->second.getBitLength()));

        }

        else if (iter->second.getType() == "ascii")

        {

            //cout << iter->second.getValue() << endl;

            for (int n = 0; n < iter->second.getValue().length(); n++)

            {

                if (iter->second.getStartBit()+n*8 + 8 > heighestBit)

                    heighestBit = iter->second.getStartBit()+n*8 + 8;

                //cout << iter->second.getValue()[n] << ":" << (unsigned int)iter->second.getValue()[n] << endl;

                bin.replace(iter->second.getStartBit()+n*8, 8, uint2bin((unsigned int)iter->second.getValue()[n], 8));

            }

        }

        else if (iter->second.getType() == "hexstring")

        {

            for (int n = 0; n < iter->second.getValue().length(); n++)

            {

                if (iter->second.getStartBit()+n*4 + 4 > heighestBit)

                    heighestBit = iter->second.getStartBit()+n*4 + 4;

                string character;

                character += iter->second.getValue()[n];

                bin.replace(iter->second.getStartBit()+n*4, 4, hex2bin(character));

            }

        }

    }

    bin = bin.substr(0, heighestBit);

    //cout << bin2hex(bin) << endl;

    return bin2hex(bin);

}

map<string, CanVariable> CanIdTranslator::translateData(int commandId, string moduleName, string dataHex)

{

    map<string, CanVariable> variables;

    XmlNode commandsNode = xmlNode.findChild("commands");

    vector<XmlNode> commandNodes = commandsNode.getChildren();

    string dataBin = hex2bin(dataHex);

    //string dataString = "{";

    for (int n = 0; n < commandNodes.size(); n++)

    {

        map<string, string> attributes = commandNodes[n].getAttributes();

        bool correct = false;

        if (commandId >= 128)

        {

            if (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName)

            {

                correct = true;

            }

        }

        else if (stoi(attributes["id"]) == commandId)

        {

            correct = true;

        }

        if (correct)

        {

            XmlNode varablesNode = commandNodes[n].findChild("variables");

            vector<XmlNode> variableNodes = varablesNode.getChildren();

            for (int c = 0; c < variableNodes.size(); c++)

            {

                map<string, string> attributes = variableNodes[c].getAttributes();

                int bitStart = stoi(attributes["start_bit"]);

                int bitLength = stoi(attributes["bit_length"]);

                string bits = dataBin.substr(bitStart, bitLength);

                CanVariable variable;

                variable.setName(attributes["name"]);

                variable.setType(attributes["type"]);

                variable.setUnit(attributes["unit"]);

                variable.setBitLength(bitLength);

                //dataString += " " + attributes["name"] + " : { value : ";

                //dataString += attributes["name"] + "=";

                //dataString += attributes["name"] + ":" + attributes["type"] + ":" + attributes["bit_length"] + "=\"";

                if (attributes["type"] == "uint")

                {

                    variable.setValue(itos(bin2uint(bits)));

                    //dataString += itos(bin2uint(bits));

                }

                else if (attributes["type"] == "float")

                {

                    variable.setValue(ftos(bin2float(bits)));

                    //dataString += ftos(bin2float(bits));

                }

                else if (attributes["type"] == "ascii")

                {

                    string str;

                    //dataString += "'";

                    for (int k = 0; k < bits.length(); k += 8)

                    {

                        str += (char)bin2uint(bits.substr(k, 8));

                        //dataString += (char)bin2uint(bits.substr(k, 4));

                    }

                    variable.setValue(str);

                    //cout << "Parsed ascii: " << str << "\n";

                    //dataString += "'";

                }

                else if (attributes["type"] == "hexstring")

                {

                    string str;

                    for (int k = 0; k < bits.length(); k += 4)

                    {

                        str += bin2hex(bits.substr(k, 4));

                        //dataString += (char)bin2uint(bits.substr(k, 4));

                    }

                    variable.setValue(str);

                }

                variables[attributes["name"]] = variable;

                //dataString += ", type : '" + attributes["type"] + "', bits : " + attributes["bit_length"] + ", unit : '" + attributes["unit"] + "' },";

                //dataString += ",";

                //dataString += "\",";

            }

            //dataString = trim(dataString, ',');

            //dataString += " }";

            //return dataString;

            return variables;

        }

    }

    //return dataString + " ]";

    return variables;

}

map<string, CanVariable> CanIdTranslator::translateHeartbeatData(string dataHex)

{

    map<string, CanVariable> variables;

    string dataBin = hex2bin(dataHex);

    string bits = dataBin.substr(0, 32);

    CanVariable canVariable("HardwareId", itos(bin2uint(bits)), "uint", "");

    canVariable.setBitLength(32);

    variables["HardwareId"] = canVariable;

    return variables;

    //return "{ HardwareId : { value : " + itos(bin2uint(bits)) + ", type : 'uint', bits : 32, unit : '' }";

    //return "HardwareId:uint:32=\"" + itos(bin2uint(bits)) + "\"";

}