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using System;
using System.Collections.Generic;
using System.Text;

public class CanPacket {
    private byte pktclass = 0;
//  private byte type = 0;
//  private byte sid = 0;
//  private byte rid = 0;
    private byte data_length = 0;
    private uint id = 0;
    private byte[] data = new byte[8];
    private byte ext = 1;
    private byte rtr = 0;
    
    public CanPacket() {
        
    }
    
    public CanPacket(byte[] raw,uint startIndex) { 
        // 17 bytes, a packet.
        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
        /*
        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
        *
        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
        * 
        */
        
        
        uint addr = (((uint)raw[startIndex + 3]) << 24) + (((uint)raw[startIndex + 2]) << 16) + (((uint)raw[startIndex + 1]) << 8) + (((uint)raw[startIndex + 0]));
        
        this.id = addr;
        this.pktclass = (byte)((addr & 0x1E000000) >> 25);
//      this.type =  (byte)((addr & 0x00FF0000) >> 16);
//      this.sid =    (byte)((addr & 0x0000FF00) >> 8);
//      this.rid =    (byte)((addr & 0x000000FF));
        this.data_length = raw[startIndex + 6];
        
        ext = (byte)(0x0f & raw[startIndex + 4]);
        rtr = (byte)(0x0f & raw[startIndex + 5]);
        
        for (int i = 0; i < 8; i++) this.data[i] = raw[startIndex + 7 + i];
    }
    
    public CanPacket(string raw) {
        //denna funktion fungerar sådär, se till att bygga en bättre parser
        
        //1e00007f 1 0 04 03 02 01 96 3f 76 15
        string [] split = null;
        split = raw.Split( new Char [] {' '} );
        if ((split.Length >= 3) && (split.Length <= 11)) {
            try {
                id = System.Convert.ToUInt32(split[0].Trim(), 16);

                ext = (byte)(System.Convert.ToUInt32(split[1].Trim(), 16)&0xFF);
                rtr = (byte)(System.Convert.ToUInt32(split[2].Trim(), 16)&0xFF);
                
                //testa ext och rtr!
                
                for (int i = 0; i < split.Length-3; i++) {
                    string dummy = split[i+3].Trim();
                    if (dummy.Length == 0) break;
                    data_length = (byte)((i+1)&0xFF);
                    //Console.WriteLine("i: " + i + " i+3: " + (i+3) + " split[i+3]: " +split[i+3]);
                    data[i] = (byte)(System.Convert.ToUInt32(dummy, 16)&0xFF);
                }
            }
            catch {
                Console.WriteLine("overflow ");
            }
        }
        
    }

//  public CanPacket(byte pktclass, byte type, byte sid, byte rid, byte data_length, byte[] data) { 
//      //keep for compability for a while (Downloader.cs)
//      this.id = ((uint)pktclass<<24)|((uint)type<<16)|((uint)sid<<8)|((uint)rid);
//      this.data_length=data_length;
//      ext = 1;
//      rtr = 0;
//      for(int i=0;i<8;i++) this.data[i]=data[i];
//  }
    
//  public CanPacket(byte pktclass, byte type, byte sid, byte rid, byte data_length, byte[] data, byte rtr, byte ext) { 
//      this.pktclass=pktclass;
//      this.type=type;
//      this.sid=sid;
//      this.rid=rid;
//      this.data_length=data_length;
//      for(int i=0;i<8;i++) this.data[i]=data[i];
//      this.ext = (byte)(0x0f & ext);
//      this.rtr = (byte)(0x0f & rtr);
//  }
    
    public override int GetHashCode() {
        return base.GetHashCode();
    }
    
    public override bool  Equals(Object obj) { 
        CanPacket cpm = (CanPacket)obj;
        
        byte[] bytes = cpm.getData();
        
        for(int i=0;i<8;i++) if (this.data[i]!=bytes[i]) return false;
        
        return (this.id==cpm.getId() && this.data_length==cpm.getDataLength());
        
    }
    
    public uint getId() { return this.id; }
    public void setId(uint id) { this.id = id; }
    //public byte getPktClass(){ return this.pktclass; }
//  public uint getType(){ return this.type; }
//  public uint getSid(){ return this.sid; }
//  public uint getRid(){ return this.sid; }
    public void setDataLength(byte datalength){ this.data_length=datalength; }
    public byte getDataLength(){ return this.data_length; }
    public byte[] getData(){ return this.data; }
    public void setExt(byte ext) { this.ext = ext; }

    public void setData(byte[] data){ this.data = data; }
    
//  public override string ToString() {
//      string str = "";
        
//      str = "pktclass: "+pktclass.ToString()+", type: "+type.ToString()+", sid: "+sid.ToString()+", rid: "+rid.ToString()+",data_length: "+data_length.ToString()+", data: ";
//      for (int i = 0; i < 8; i++) str+=data[i].ToString()+" ";
        
//      return str;
//  }
    
    public string toRawString() {

        string returnstring = "PKT " + String.Format("{0:x8}", id);
        returnstring = returnstring + " " + String.Format("{0:x1}", ext) + " " + String.Format("{0:x1}", rtr);
        for (int i = 0; i < data_length; i++) {
            returnstring = returnstring + " " + String.Format("{0:x2}", data[i]);
        }
        //returnstring = returnstring + "\n";
        return returnstring;
    }
    
    public byte[] getBytes() {
        byte[] bytes = new byte[15];
        
        // 17 bytes, a packet.
        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
        /*
        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
        *
        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
        * 
        */
        
        
        bytes[3] = (byte)((id & 0xFF000000) >> 24);
        bytes[2] = (byte)((id & 0x00FF0000) >> 16);
        bytes[1] = (byte)((id & 0x0000FF00) >> 8);
        bytes[0] = (byte)((id & 0x000000FF));
        bytes[4]=ext;
        bytes[5]=rtr;
        bytes[6]=this.data_length;
        for(int i=0;i<8;i++) bytes[i+7]=this.data[i];
        
        return bytes;
    }
    
}