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/*

 *

 *  Copyright (C) 2010  Mattias Runge

 *

 *  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.,

 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

 *

 */

#include "Node.h"

#include <boost/date_time/posix_time/posix_time.hpp>

#include <boost/lexical_cast.hpp>

#include "Manager.h"

#include "Message.h"

#include "broker/Manager.h"

namespace atom {

namespace can {

Node::TransitionList Node::transitions_;

Node::Node(Node::Id id) : LOG("can::Node")

{

    this->state_ = STATE_NORM_OFFLINE;

    this->id_ = id;

}

Node::~Node()

{

}

void Node::ConnectSlots(const SignalOnNewState::slot_type& slot_on_new_state)

{

    this->signal_on_new_state_.connect(slot_on_new_state);

}

Node::Id Node::GetId()

{

    return this->id_;

}

Node::State Node::GetState()

{

    return this->state_;

}

void Node::SetupStateMachine()

{

    // Normal flow

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_HEARTBEAT,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_RESET,             STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_HEARTBEAT,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_RESET,             STATE_NORM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_HEARTBEAT,         STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_LIST_DONE,         STATE_NORM_INITIALIZED);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_RESET,             STATE_NORM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_HEARTBEAT,         STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_RESET,             STATE_NORM_OFFLINE);

    // Program bios flow

    Node::AddTransition(STATE_BPGM_OFFLINE,          EVENT_BIOS_START,        STATE_BPGM_START);

    Node::AddTransition(STATE_BPGM_START,            EVENT_PGM_ACK,           STATE_BPGM_DATA);

    Node::AddTransition(STATE_BPGM_START,            EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_DATA,             EVENT_PGM_ACK,           STATE_BPGM_DATA); // If there is no more data to send STATE_PGM_END will be set instead

    Node::AddTransition(STATE_BPGM_DATA,             EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_END,              EVENT_PGM_ACK,           STATE_BPGM_COPY);

    Node::AddTransition(STATE_BPGM_END,              EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_COPY,             EVENT_BIOS_START,        STATE_NORM_ONLINE); // Return to normal flow

    // Program application flow

    Node::AddTransition(STATE_APGM_OFFLINE,          EVENT_BIOS_START,        STATE_APGM_START);

    Node::AddTransition(STATE_APGM_START,            EVENT_PGM_ACK,           STATE_APGM_DATA);

    Node::AddTransition(STATE_APGM_START,            EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_DATA,             EVENT_PGM_ACK,           STATE_APGM_DATA); // If there is no more data to send STATE_PGM_END will be set instead

    Node::AddTransition(STATE_APGM_DATA,             EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_END,              EVENT_PGM_ACK,           STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_END,              EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

}

void Node::AddTransition(Node::State current_state, Node::Event event, State target_state)

{

    Node::transitions_[current_state][event] = target_state;

}

Node::State Node::GetTransitionTarget(Node::Event event)

{

    Node::TransitionList::iterator it1 = Node::transitions_.find(this->state_);

    if (it1 == Node::transitions_.end())

    {

        LOG.Warning("No transitions found for current state " + boost::lexical_cast<std::string>(this->state_));

        return STATE_INVALID;

    }

    Node::Transition::iterator it2 = it1->second.find(event);

    if (it2 == it1->second.end())

    {

        LOG.Warning("No transitions found for current state " + boost::lexical_cast<std::string>(this->state_) + " for event " + boost::lexical_cast<std::string>(event));

        return STATE_INVALID;

    }

    return it2->second;

}

void Node::Trigger(Node::Event event, type::StringMap variables)

{

    this->ResetTimeout();

    State target_state = this->GetTransitionTarget(event);

    LOG.Debug("Trigger called: current state: " + boost::lexical_cast<std::string>(this->state_) + ", event: " + boost::lexical_cast<std::string>(event) + ", target state:"  + boost::lexical_cast<std::string>(target_state));

    if (target_state == STATE_INVALID)

    {

        this->SendReset();

        target_state = STATE_NORM_OFFLINE;

    }

    else if (target_state == STATE_NO_CHANGE)

    {

        return;

    }

    else if (target_state == STATE_NORM_LIST)

    {

        this->SendListRequest();

    }

    else if (target_state == STATE_NORM_OFFLINE)

    {

        this->SendReset();

    }

    else if (target_state == STATE_BPGM_OFFLINE || target_state == STATE_APGM_OFFLINE)

    {

        this->SendReset();

    }

    else if (target_state == STATE_BPGM_START || target_state == STATE_APGM_START)

    {

        // TODO: Send out pgm start

    }

    else if (target_state == STATE_BPGM_DATA || target_state == STATE_APGM_DATA)

    {

        // TODO: if more data send it

        // TODO: if no more data send pgm end and set target_state = STATE_APGM_END or target_state = STATE_BPGM_END

    }

    if (this->state_ != target_state)

    {

        this->signal_on_new_state_(this->id_, this->state_, target_state);

    }

    this->state_ = target_state;

}

bool Node::CheckTimeout()

{

    if (this->state_ == STATE_NORM_OFFLINE)

    {

        return true;

    }

    if (this->last_active_ + 10 < time(NULL))

    {

        this->state_ = STATE_NORM_OFFLINE;

        return false;

    }

    return true;

}

void Node::ResetTimeout()

{

    this->last_active_ = time(NULL);

}

void Node::SendReset()

{

    LOG.Debug("Sending node reset to " + type::ToHex(this->id_));

    Message* payload = new Message("nmt", "", "", 0, "Reset");

    payload->SetVariable("HardwareId", boost::lexical_cast<std::string>(this->id_));

    broker::Manager::Instance()->Post(broker::Message::Pointer(new broker::Message(broker::Message::CAN_MESSAGE, broker::Message::PayloadPointer(payload), Manager::Instance().get())));

}

void Node::SendListRequest()

{

    LOG.Debug("Sending module listing on node " + type::ToHex(this->id_));

    Message* payload = new Message("mnmt", "To_Owner", "", 0, "List");

    payload->SetVariable("HardwareId", boost::lexical_cast<std::string>(this->id_));

    broker::Manager::Instance()->Post(broker::Message::Pointer(new broker::Message(broker::Message::CAN_MESSAGE, broker::Message::PayloadPointer(payload), Manager::Instance().get())));

}

}; // namespace can

}; // namespace atom