#include "pican.h"
#include "piincludes_p.h"
#if !defined(WINDOWS) && !defined(MAC_OS)
#  define PIP_CAN
#endif
#ifdef PIP_CAN
#  include <sys/ioctl.h>
#  include <net/if.h>
#  include <linux/can.h>
#  include <linux/can/raw.h>
#  ifndef AF_CAN
#  define AF_CAN 29
#  endif
#  ifndef PF_CAN
#  define PF_CAN AF_CAN
#  endif
#endif


//PRIVATE_DEFINITION_START(PICAN)
//#ifdef PIP_CAN
//int fd;
//spi_ioc_transfer spi_ioc_tr;
//#endif
//PRIVATE_DEFINITION_END(PICAN)


REGISTER_DEVICE(PICAN)


PICAN::PICAN(const PIString & path, PIIODevice::DeviceMode mode) : PIIODevice(path, mode) {
	setThreadedReadBufferSize(256);
	setPath(path);
	can_id = 0;
}


bool PICAN::openDevice() {
#ifdef PIP_CAN
	sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
	if(sock < 0){
		piCoutObj << "Error! while opening socket";
		return false;
	}
	struct ifreq ifr;
	strcpy(ifr.ifr_name, path().dataAscii());
	if(ioctl(sock, SIOCGIFINDEX, &ifr) < 0){
		piCoutObj << "Error! while determin the interface ioctl";
		return false;
	}
	// bind socket to all CAN interface
	struct sockaddr_can addr;
	addr.can_family = AF_CAN;
	addr.can_ifindex = ifr.ifr_ifindex;
	if(bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0){
		piCoutObj << "Error! while binding socket";
		return false;
	}
	return true;
#else
	piCoutObj << "PICAN not implemented on windows";
	return false;
#endif
}


bool PICAN::closeDevice() {
#ifdef PIP_CAN
	if (sock > 0) ::close(sock);
#endif
	return true;
}


int PICAN::readDevice(void * read_to, int max_size) {
#ifdef PIP_CAN
	can_frame frame;
	int ret = 0;
	ret = ::read(sock, &frame, sizeof(can_frame));
	if(ret < 0) {piCoutObj << "Error while read CAN frame " << ret; return -1;}
	piCoutObj << "receive CAN frame Id =" << frame.can_id;
	memcpy(read_to, frame.data, piMini(frame.can_dlc, max_size));
	return max_size;
#endif
	return 0;
}


int PICAN::writeDevice(const void * data, int max_size) {
#ifdef PIP_CAN
	if (max_size > 8) {piCoutObj << "Can't send CAN frame bigger than 8 bytes (requested " << max_size << ")!"; return -1;}
	can_frame frame;
	frame.can_id = can_id;
	frame.can_dlc = max_size;
	memcpy(frame.data, data, max_size);
	int ret = 0;
	ret = ::write(sock, &frame, sizeof(can_frame));
	if(ret < 0) {piCoutObj << "Error while send CAN frame " << ret; return -1;}
	return max_size;
#endif
	return 0;
}


void PICAN::setCANID(int id) {
	can_id = id;
}


int PICAN::CANID() const {
	return can_id;
}


PIString PICAN::constructFullPathDevice() const {
	PIString ret;
	ret << path() << ":" << CANID();
	return ret;
}


void PICAN::configureFromFullPathDevice(const PIString & full_path) {
	PIStringList pl = full_path.split(":");
	for (int i = 0; i < pl.size_s(); ++i) {
		PIString p(pl[i]);
		switch (i) {
		case 0: setPath(p); break;
		case 1: setCANID(p.toInt(16)); break;
		default: break;
		}
	}
}