#include "cmd_can.h"
#include "can.h"
#include "esp_err.h"
#include "esp_log.h"
#include "hal/twai_types.h"
#include "inttypes.h"
#include "sdkconfig.h"
#include "freertos/projdefs.h"
#include "string.h"
#include "esp_console.h"
#include "argtable3/argtable3.h"
#include "xvprintf.h"
#include <stddef.h>
#include <stdio.h>
#include <ctype.h>

twai_filter_config_t my_filters = TWAI_FILTER_CONFIG_ACCEPT_ALL();

static void register_cansend(void);
static void register_canup(void);
static void register_candown(void);
static void register_canstats(void);
static void register_canstart(void);
static void register_canrecover(void);
static void register_canfilter(void);
static void register_cansmartfilter(void);

void register_can_commands(void) {
    register_cansend();
    register_canup();
    register_candown();
    register_canstats();
    register_canstart();
    register_canrecover();
    register_canfilter();
    register_cansmartfilter();
}

static struct {
    struct arg_str *message;
    struct arg_end *end;
} cansend_args;

static int send_can_frame(int argc, char **argv) {
    twai_message_t msg = {.extd = 1};
    char printf_str[70];
    int nerrors = arg_parse(argc, argv, (void **) &cansend_args);
    if (nerrors != 0) {
        arg_print_errors(stderr, cansend_args.end, argv[0]);
        return 1;
    }
    const char *can_msg_ptr = cansend_args.message->sval[0];
    char *can_msg_str_buf = strdup(can_msg_ptr);
    char *id_substr = strtok(can_msg_str_buf, "#");
    char *data_substr = strtok(NULL, "#");
    if ((id_substr == NULL) || (strtok(NULL, "#") != NULL)) goto invalid_args;
    int id_l = strlen(id_substr);
    int dt_l = data_substr == NULL ? 0 : strlen(data_substr);
    if ((id_l > 8) || (dt_l > 16) || (id_l % 2) || (dt_l % 2)) goto invalid_args;
    for (int i = 0; i < id_l; i++) if(!isxdigit((int) id_substr[i])) goto invalid_args;
    for (int i = 0; i < dt_l; i++) if(!isxdigit((int) data_substr[i])) goto invalid_args;
    int msg_id;
    if (sscanf(id_substr, "%X", &msg_id) < 1) goto invalid_args;
    for (int i = 0; i < (dt_l / 2); i++) {
        char *byte_to_parse = malloc(3);
        strncpy(byte_to_parse, data_substr + i * 2, 2);
        int num;
        int res = sscanf(byte_to_parse, "%X", &num);
        free(byte_to_parse);
        if (res < 1) goto invalid_args;
        msg.data[i] = num;
    }
    msg.data_length_code = dt_l / 2;
    msg.identifier = msg_id;
    esp_err_t res = twai_transmit(&msg, pdMS_TO_TICKS(1000));
    switch(res) {
        case ESP_OK:
            can_msg_to_str(&msg, "sent ", printf_str);
            print_w_clr_time(printf_str, NULL, true);
            break;
        case ESP_ERR_TIMEOUT:
            print_w_clr_time("Timeout!", LOG_COLOR_RED, true);
            break;
        case ESP_ERR_NOT_SUPPORTED:
            print_w_clr_time("Can't sent in Listen-Only mode!", LOG_COLOR_RED, true);
            break;
        default:
            print_w_clr_time("Invalid state!", LOG_COLOR_RED, true);
            break;
    }
    free(can_msg_str_buf);
    return 0;
invalid_args:
    printf("Invalid arguments!\n");
    free(can_msg_str_buf);
    return 1;
}

static int canrecover(int argc, char **argv) {
    esp_err_t res = twai_initiate_recovery();
    if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, true);
    else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, true);
    else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, true);
    return 0;
}

static const char* can_states_str[] = {
    "not installed",
    "stopped",
    "error active",
    "error passive",
    "bus off",
    "recovering"
};

static int canstats(int argc, char **argv) {
    if (curr_can_state.state == CAN_NOT_INSTALLED) {
        printf("CAN driver is not installed!\n");
        return 0;
    } else {
        const char *state_str = can_states_str[curr_can_state.state];
        printf("status: %s\n", state_str);
        printf("TX Err Counter: %" PRIu32 "\n", curr_can_state.tx_error_counter);
        printf("RX Err Counter: %" PRIu32 "\n", curr_can_state.rx_error_counter);
        printf("Failed transmit: %" PRIu32 "\n", curr_can_state.tx_failed_count);
        printf("Arbitration lost times: %" PRIu32 "\n", curr_can_state.arb_lost_count);
        printf("Bus-off count: %" PRIu32 "\n", curr_can_state.bus_error_count);
    }
    return 0;
}

static const char* can_modes[] = {
    "normal",
    "no_ack",
    "listen_only",
};

static struct {
    struct arg_int *speed;
    struct arg_lit *filters;
    struct arg_lit *autorecover;
    struct arg_str *mode;
    struct arg_end *end;
} canup_args;

static int canup(int argc, char **argv) {
    esp_err_t res;
    static twai_timing_config_t t_config;
    twai_general_config_t gen_cfg = default_g_config;
    // TODO: add CAN filtering
    twai_filter_config_t f_config;
    int nerrors = arg_parse(argc, argv, (void **) &canup_args);
    if (nerrors != 0) {
        arg_print_errors(stderr, canup_args.end, argv[0]);
        return 1;
    }
    if (canup_args.filters->count) {
        f_config = my_filters;
        print_w_clr_time("Using predefined filters.", LOG_COLOR_GREEN, true);
    } else {
        f_config = (twai_filter_config_t) TWAI_FILTER_CONFIG_ACCEPT_ALL();
        print_w_clr_time("Using accept all filters.", LOG_COLOR_GREEN, true);
    }
    esp_log_level_t prev_gpio_lvl = esp_log_level_get("gpio");
    int mode = 0;
    if (canup_args.mode->count) {
        const char* mode_str = canup_args.mode->sval[0];
        while (mode < 4) {
            if (mode == 3) {
                print_w_clr_time("Unsupported mode!", LOG_COLOR_RED, true);
                return 1;
            }
            if (memcmp(mode_str, can_modes[mode], strlen(mode_str)) == 0) break;
            mode++;
        }
    }
    switch(mode) {
        case 1:
            gen_cfg.mode = TWAI_MODE_NO_ACK;
            print_w_clr_time("Starting CAN in No Ack Mode...", LOG_COLOR_BLUE, true);
            break;
        case 2:
            gen_cfg.mode = TWAI_MODE_LISTEN_ONLY;
            print_w_clr_time("Starting CAN in Listen Only Mode...", LOG_COLOR_BLUE, true);
            break;
        default: //0
            print_w_clr_time("Starting CAN in Normal Mode...", LOG_COLOR_BLUE, true);
            break;
    }
    switch (canup_args.speed->ival[0]) {
        case 1000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1KBITS();
            break;
        case 5000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_5KBITS();
            break;
        case 10000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_10KBITS();
            break;
        case 12500:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_12_5KBITS();
            break;
        case 16000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_16KBITS();
            break;
        case 20000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_20KBITS();
            break;
        case 25000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_25KBITS();
            break;
        case 50000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_50KBITS();
            break;
        case 100000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_100KBITS();
            break;
        case 125000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_125KBITS();
            break;
        case 250000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_250KBITS();
            break;
        case 500000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_500KBITS();
            break;
        case 800000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_800KBITS();
            break;
        case 1000000:
            t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1MBITS();
            break;
        default:
            print_w_clr_time("Unsupported speed!", LOG_COLOR_RED, true);
            return 1;
    }
    xSemaphoreTake(can_mutex, portMAX_DELAY);
    esp_log_level_set("gpio", ESP_LOG_ERROR);
    res = twai_driver_install(&gen_cfg, &t_config, &f_config);
    if (res == ESP_OK) {
        print_w_clr_time("CAN driver installed", LOG_COLOR_BLUE, true);
        if (canup_args.autorecover->count) {
            print_w_clr_time("Auto recovery is enabled!", LOG_COLOR_PURPLE, true);
            auto_recovery = true;
        } else auto_recovery = false;
    } else if (res == ESP_ERR_INVALID_STATE) {
        print_w_clr_time("Driver is already installed!", LOG_COLOR_BROWN, true);
        goto free_exit;
    } else {
        print_w_clr_time("Couldn't install CAN driver! Rebooting...", LOG_COLOR_RED, true);
        esp_restart();
    }
    ESP_ERROR_CHECK(twai_start());
    is_error_passive = false;
    print_w_clr_time("CAN driver started", LOG_COLOR_BLUE, true);
free_exit:
    xSemaphoreGive(can_mutex);
    esp_log_level_set("gpio", prev_gpio_lvl);
    return 0;
}

static int canstart(int argc, char **argv) {
    xSemaphoreTake(can_mutex, portMAX_DELAY);
    esp_err_t res = twai_start();
    if (res == ESP_OK) {
        print_w_clr_time("CAN driver started", LOG_COLOR_GREEN, true);
        is_error_passive = false;
    } else print_w_clr_time("Driver is not in stopped state, or is not installed.", LOG_COLOR_RED, true);
    xSemaphoreGive(can_mutex);
    return 0;
}

static int candown(int argc, char **argv) {
    xSemaphoreTake(can_mutex, portMAX_DELAY);
    if (curr_can_state.state != CAN_BUF_OFF) {
        esp_err_t res = twai_stop();
        if (res == ESP_OK) print_w_clr_time("CAN was stopped.", LOG_COLOR_GREEN, true);
        else {
            print_w_clr_time("Driver is not in running state, or is not installed.", LOG_COLOR_RED, true);
            xSemaphoreGive(can_mutex);
            return 1;
        }
    }
    ESP_ERROR_CHECK(twai_driver_uninstall());
    xSemaphoreGive(can_mutex);
    return 0;
}

static void register_cansend(void) {
    
    cansend_args.message = arg_str1(NULL, NULL, "ID#data", "Message to send, ID and data bytes, all in hex. # is the delimiter.");
    cansend_args.end = arg_end(2);

    const esp_console_cmd_t cmd = {
        .command = "cansend",
        .help = "Send a can message to the bus, example: cansend 00008C03#02",
        .hint = NULL,
        .func = &send_can_frame,
        .argtable = &cansend_args,
    };
    ESP_ERROR_CHECK( esp_console_cmd_register(&cmd) );
}

static void register_canup(void) {

    canup_args.speed = arg_int1(NULL, NULL, "<speed>", "CAN bus speed, in bps. See help for supported speeds.");
    canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only>", "Set CAN mode. Normal (default), No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring).");
    canup_args.filters = arg_lit0("f", NULL, "Use predefined CAN filters.");
    canup_args.autorecover = arg_lit0("r", "auto-recovery", "Set to enable auto-recovery of CAN bus if case of bus-off event");
    canup_args.end = arg_end(4);

    const esp_console_cmd_t cmd = {
        .command = "canup",
        .help = "Install can drivers and start can interface. Used right after board start or during runtime for changing CAN configuration. Supported speeds: 1mbits, 800kbits, 500kbits, 250kbits, 125kbits, 100kbits, 50kbits, 25kbits, 20kbits, 16kbits, 12.5kbits, 10kbits, 5kbits, 1kbits.",
        .hint = NULL,
        .func = &canup,
        .argtable = &canup_args,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static void register_candown(void) {
    const esp_console_cmd_t cmd = {
        .command = "candown",
        .help = "Stop CAN interface and uninstall CAN driver, for example, to install and start with different parameters/filters.",
        .hint = NULL,
        .func = &candown,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static void register_canstats(void) {
    const esp_console_cmd_t cmd = {
        .command = "canstats",
        .help = "Print CAN statistics.",
        .hint = NULL,
        .func = &canstats,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static void register_canstart(void) {
    const esp_console_cmd_t cmd = {
        .command = "canstart",
        .help = "Start CAN interface, used after bus recovery, otherwise see canup command.",
        .hint = NULL,
        .func = &canstart,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static void register_canrecover(void) {
    const esp_console_cmd_t cmd = {
        .command = "canrecover",
        .help = "Recover CAN after buf-off. Used when auto-recovery is turned off.",
        .hint = NULL,
        .func = &canrecover,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static struct {
    struct arg_lit *dual;
    struct arg_str *code;
    struct arg_str *mask;
    struct arg_end *end;
} canfilter_args;

static int canfilter(int argc, char **argv) {
    int nerrors = arg_parse(argc, argv, (void **) &canfilter_args);
    if (nerrors != 0) {
        arg_print_errors(stderr, canfilter_args.end, argv[0]);
        return 1;
    }
    if (canfilter_args.dual->count) {
        my_filters.single_filter = false;

    } else {
        my_filters.single_filter = true;
    }
    return 0;
}

static void register_canfilter(void) {

    canfilter_args.mask = arg_str1("m", "mask", "<mask>", "Acceptance mask (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
    canfilter_args.code = arg_str1("c", "code", "<code>", "Acceptance code (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
    canfilter_args.dual = arg_lit0("d", NULL, "Use Dual Filter Mode.");

    const esp_console_cmd_t cmd = {
        .command = "canfilter",
        .help = "Manually setup basic hardware filtering.",
        .hint = NULL,
        .func = &canfilter,
        .argtable = &canfilter_args,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}

static struct {
    struct arg_str *filters;
    struct arg_end *end;
} cansmart_args;

static int cansmartfilter(int argc, char **argv) {
    int nerrors = arg_parse(argc, argv, (void **) &cansmart_args);
    if (nerrors != 0) {
        arg_print_errors(stderr, cansmart_args.end, argv[0]);
        return 1;
    }
    return 0;
}

static void register_cansmartfilter(void) {

    cansmart_args.filters = arg_strn(NULL, NULL, "<filter1> <filter2> ...", 1, CONFIG_CAN_MAX_SMARTFILTERS_NUM, "Filters, in hex format. Each one contains mask and code in format code#mask. Both mask and code are uint32_t numbers in hex format. Example: 0000FF00#0000FFFF");
    const esp_console_cmd_t cmd = {
        .command = "cansmartfilter",
        .help = "Setup smart mixed filters (hardware + software). Num of filters can be up to the value in config.",
        .hint = NULL,
        .func = &cansmartfilter,
        .argtable = &cansmart_args,
    };
    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
}