/**
 * SSAS - Simple Smart Automotive Software
 * Copyright (C) 2021-2022 Parai Wang <parai@foxmail.com>
 */
/* ================================ [ INCLUDES  ] ============================================== */
#include "canlib.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include "Std_Types.h"
#include "Std_Timer.h"
#include <sys/queue.h>
#include <assert.h>
#include <ctype.h>

#include <map>
#include <chrono>
#include <thread>
/* ================================ [ MACROS    ] ============================================== */
#define CAN_MAX_DLEN 64 /* 64 for CANFD */
/* ================================ [ TYPES     ] ============================================== */

struct can_msg_info {
  can_frame_t frame;
  uint64_t count;
  std::chrono::high_resolution_clock::time_point start;
  float period;
};

struct Can_Filter_s {
  uint32_t mask;
  uint32_t code;
  STAILQ_ENTRY(Can_Filter_s) entry;
};

struct Can_FilterList_s {
  STAILQ_HEAD(, Can_Filter_s) head;
};
/* ================================ [ DECLARES  ] ============================================== */
/* ================================ [ DATAS     ] ============================================== */
static struct Can_FilterList_s *canFilterH = NULL;
static std::map<uint32_t, can_msg_info> canMsgInfoMap;
static uint32_t canLastMsgNum = 0;
static bool lStop = false;
std::chrono::high_resolution_clock::time_point canLastShowTime =
  std::chrono::high_resolution_clock::now();
/* ================================ [ LOCALS    ] ============================================== */
static void sigint_handler(int sig) {
  (void)sig;
  lStop = true;
}

static void log_msg(can_frame_t *frame, float rtim, uint64_t count = 0) {
  int bOut = FALSE;
  static float lastTime = -1;
  int nSame = 0;

  if (-1 == lastTime) {
    lastTime = rtim;
  }

  struct Can_Filter_s *filter;

  if (NULL == canFilterH) {
    bOut = TRUE;
  } else {
    STAILQ_FOREACH(filter, &canFilterH->head, entry) {
      if ((frame->canid & filter->mask) == (filter->code & filter->mask)) {
        bOut = TRUE;
      }
    }
  }

  if (bOut) {
    int i;
    int dlc;
    printf("canid=%08X,dlc=%02d,data=[", frame->canid, frame->dlc);
    dlc = frame->dlc;
    if (dlc < 8) {
      dlc = 8;
    }

    for (i = 0; i < dlc; i++) {
      if ((i >= 8) && (frame->data[i] == frame->data[i - 1])) {
        nSame++;
      } else {
        if (nSame > 0) {
          printf("`%d,", nSame);
        } else {
          printf("%02X,", frame->data[i]);
        }
        nSame = 0;
      }
    }

    if (nSame > 0) {
      printf("`%d,", nSame);
    }

    nSame = 0;

    printf("] [");

    for (i = 0; i < dlc; i++) {
      if ((i >= 8) && (frame->data[i] == frame->data[i - 1])) {
        nSame++;
        continue;
      } else {
        if (isprint(frame->data[i])) {
          printf("%c", frame->data[i]);
        } else {
          printf(".");
        }
        if (nSame > 0) {
          printf("`");
        }
        nSame = 0;
      }
    }
    if (nSame > 0) {
      printf("`");
    }

    if (count > 0) { /* periodic mode */
      printf("] period %.2f ms count %lld\n", rtim, count);
    } else {
      printf("] @ %f s rel %.2f ms\n", rtim, (rtim - lastTime) * 1000);
      lastTime = rtim;
    }
  }
}

static void add_msg(can_frame_t *frame) {
  auto it = canMsgInfoMap.find(frame->canid);
  if (it != canMsgInfoMap.end()) {
    it->second.frame = *frame;
    it->second.count++;
    auto now = std::chrono::high_resolution_clock::now();
    auto elapsed =
      std::chrono::duration_cast<std::chrono::milliseconds>(now - it->second.start).count();
    it->second.period = (float)((double)elapsed / (it->second.count - 1));
  } else {
    canMsgInfoMap[frame->canid] = {*frame, 1, std::chrono::high_resolution_clock::now(), 0};
  }

  auto now = std::chrono::high_resolution_clock::now();
  auto elapsed =
    std::chrono::duration_cast<std::chrono::milliseconds>(now - canLastShowTime).count();

  if (elapsed > 1000) {
    for (uint32_t i = 0; i < canLastMsgNum; i++) {
      printf("\033[1A"); /* back to last line */
      printf("\033[K");  /* clear this line */
    }

    for (auto &it : canMsgInfoMap) {
      auto &frame = it.second.frame;
      log_msg(&frame, it.second.period, it.second.count);
    }
    canLastMsgNum = canMsgInfoMap.size();
    canLastShowTime = std::chrono::high_resolution_clock::now();
  }
}

static void arg_filter(char *s) {
  char *code;
  struct Can_Filter_s *filter = (struct Can_Filter_s *)malloc(sizeof(struct Can_Filter_s));
  assert(filter);

  code = strchr(s, '#');
  assert(code);
  code = &code[1];

  filter->mask = strtoul(s, NULL, 16);
  filter->code = strtoul(code, NULL, 16);

  if (NULL == canFilterH) {
    canFilterH = (struct Can_FilterList_s *)malloc(sizeof(struct Can_FilterList_s));
    assert(canFilterH);
    STAILQ_INIT(&canFilterH->head);
  }

  STAILQ_INSERT_TAIL(&canFilterH->head, filter, entry);
}
static void usage(char *prog) {
  printf("usage: %s -d device -p port -b baudrate -f <Mask>#<Code>\n"
         "  -f <Mask>#<Code> : optional parameter for CAN log Mask and Code, in hex\n"
         "Example:\n"
         "  %s -d simulator_v2 -p 0 -f 700#300\n",
         prog, prog);
}
/* ================================ [ FUNCTIONS ] ============================================== */
int main(int argc, char *argv[]) {
  int ch;
  const char *device = "simulator_v2";
  int busid;
  int port = 0;
  int baudrate = 500000;
  can_frame_t frame;
  bool rv;
  bool bPeriodMode = false;

  signal(SIGINT, sigint_handler);
  signal(SIGTERM, sigint_handler);

  opterr = 0;
  while ((ch = getopt(argc, argv, "b:d:f:hp:P")) != -1) {
    switch (ch) {
    case 'b':
      baudrate = atoi(optarg);
      break;
    case 'd':
      device = optarg;
      break;
    case 'f':
      arg_filter(optarg);
      break;
    case 'h':
      usage(argv[0]);
      return 0;
      break;
    case 'p':
      port = atoi(optarg);
      break;
    case 'P':
      bPeriodMode = true;
      break;
    default:
      break;
    }
  }

  if ((NULL == device) || (port < 0) || (baudrate < 0) || (opterr != 0)) {
    usage(argv[0]);
    return -1;
  }

  busid = can_open(device, (uint32_t)port, (uint32_t)baudrate);
  if (busid < 0) {
    return -2;
  }

  uint64_t begin = PAL_Timestamp();

  while (false == lStop) {
    do {
      frame.canid = -1;
      rv = can_read_v2(busid, &frame);
      if (true == rv) {
        if (bPeriodMode) {
          add_msg(&frame);
        } else {
          float rtim = (float)((frame.timestamp - begin) / 1000000.0f);
          log_msg(&frame, rtim);
        }
      }
    } while ((true == rv) && (false == lStop));
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
  }

  (void)can_close(busid);

  return 0;
}