/****************************************************************************
 *
 *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/*
 * @file irlock.cpp
 * @author Michael Landes
 *
 * Driver for an IR-Lock and Pixy vision sensor connected via I2C.
 *
 * Created on: Nov 12, 2014
 */

#include <fcntl.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>

#include <drivers/boards/px4fmu-v2/board_config.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_irlock.h>
#include <drivers/drv_hrt.h>

#include <nuttx/clock.h>
#include <nuttx/wqueue.h>
#include <systemlib/err.h>

/* Configuration Constants */
#define IRLOCK_I2C_BUS			PX4_I2C_BUS_EXPANSION
#define IRLOCK_I2C_ADDRESS		0x54 //* 7-bit address (non shifted)
#define IRLOCK_CONVERSION_INTERVAL_US	20000U /* us = 20ms = 50Hz */

#define IRLOCK_SYNC			0xAA55
#define IRLOCK_RESYNC		0x5500
#define IRLOCK_ADJUST		0xAA

#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

class IRLOCK : public device::I2C
{
public:
	IRLOCK(int bus = IRLOCK_I2C_BUS, int address = IRLOCK_I2C_ADDRESS);
	virtual ~IRLOCK();

	virtual int init();
	virtual int probe();
	virtual int info();
	virtual int test();

	virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);

private:

	/* start periodic reads from sensor */
	void start();

	/* stop periodic reads from sensor */
	void stop();

	/* static function that is called by worker queue, arg will be pointer to instance of this class */
	static void		cycle_trampoline(void *arg);

	/* read from device and schedule next read */
	void			cycle(); \

	/* low level communication with sensor */
	int read_device();
	bool sync_device();
	int read_device_word(uint16_t *word);
	int read_device_block(struct irlock_s *block);

	/* internal variables */
	RingBuffer *_reports;
	bool _sensor_ok;
	work_s _work;
	uint32_t _read_failures;
};

/* global pointer for single IRLOCK sensor */
namespace
{
IRLOCK *g_irlock = nullptr;
}

void irlock_usage();

extern "C" __EXPORT int irlock_main(int argc, char *argv[]);

/* constructor */
IRLOCK::IRLOCK(int bus, int address) :
	I2C("irlock", IRLOCK0_DEVICE_PATH, bus, address, 400000),
	_reports(nullptr),
	_sensor_ok(false),
	_read_failures(0)
{
	memset(&_work, 0, sizeof(_work));
}

/* destructor */
IRLOCK::~IRLOCK()
{
	stop();

	/* clear reports queue */
	if (_reports != nullptr) {
		delete _reports;
	}
}

/* initialise driver to communicate with sensor */
int IRLOCK::init()
{
	/* initialise I2C bus */
	int ret = I2C::init();

	if (ret != OK) {
		return ret;
	}

	/* allocate buffer storing values read from sensor */
	_reports = new RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));

	if (_reports == nullptr) {
		return ENOTTY;

	} else {
		_sensor_ok = true;
		/* start work queue */
		start();
		return OK;
	}
}

/* probe the device is on the I2C bus */
int IRLOCK::probe()
{
	/*
	 * IRLock defaults to sending 0x00 when there is no block
	 * data to return, so really all we can do is check to make
	 * sure a transfer completes successfully.
	 */
	uint8_t byte;

	if (transfer(nullptr, 0, &byte, 1) != OK) {
		return -EIO;
	}

	return OK;
}

/* display driver info */
int IRLOCK::info()
{
	if (g_irlock == nullptr) {
		errx(1, "irlock device driver is not running");
	}

	/* display reports in queue */
	if (_sensor_ok) {
		_reports->print_info("report queue: ");
		warnx("read errors:%lu", (unsigned long)_read_failures);

	} else {
		warnx("sensor is not healthy");
	}

	return OK;
}

/* test driver */
int IRLOCK::test()
{
	/* exit immediately if driver not running */
	if (g_irlock == nullptr) {
		errx(1, "irlock device driver is not running");
	}

	/* exit immediately if sensor is not healty */
	if (!_sensor_ok) {
		errx(1, "sensor is not healthy");
	}

	/* instructions to user */
	warnx("searching for object for 10 seconds");

	/* read from sensor for 10 seconds */
	struct irlock_s obj_report;
	uint64_t start_time = hrt_absolute_time();

	while ((hrt_absolute_time() - start_time) < 10000000) {

		/* output all objects found */
		while (_reports->count() > 0) {
			_reports->get(&obj_report);
			warnx("sig:%d x:%d y:%d width:%d height:%d",
			      (int)obj_report.signature,
			      (int)obj_report.center_x,
			      (int)obj_report.center_y,
			      (int)obj_report.width,
			      (int)obj_report.height);
		}

		/* sleep for 0.05 seconds */
		usleep(50000);
	}

	return OK;
}

/* start periodic reads from sensor */
void IRLOCK::start()
{
	// flush ring and reset state machine
	_reports->flush();

	// start work queue cycle
	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, 1);
}

/* stop periodic reads from sensor */
void IRLOCK::stop()
{
	work_cancel(HPWORK, &_work);
}

void IRLOCK::cycle_trampoline(void *arg)
{
	IRLOCK *device = (IRLOCK *)arg;

	/* check global irlock reference and cycle */
	if (g_irlock != nullptr) {
		device->cycle();
	}
}

void IRLOCK::cycle()
{
	// ignoring failure, if we do, we will be back again right away...
	read_device();

	// schedule the next cycle
	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, USEC2TICK(IRLOCK_CONVERSION_INTERVAL_US));
}

ssize_t IRLOCK::read(struct file *filp, char *buffer, size_t buflen)
{
	unsigned count = buflen / sizeof(struct irlock_s);
	struct irlock_s *rbuf = reinterpret_cast<struct irlock_s *>(buffer);
	int ret = 0;

	if (count < 1) {
		return -ENOSPC;
	}

	// try to read
	while (count--) {
		if (_reports->get(rbuf)) {
			ret += sizeof(*rbuf);
			++rbuf;
		}
	}

	return ret ? ret : -EAGAIN;

	return ret;
}

/* sync device to ensure reading starts at new frame*/
bool IRLOCK::sync_device()
{
	uint8_t sync_byte;
	uint16_t sync_word;

	if (read_device_word(&sync_word) != OK) {
		return false;
	}

	if (sync_word == IRLOCK_RESYNC) {
		transfer(nullptr, 0, &sync_byte, 1);

		if (sync_byte == IRLOCK_ADJUST) {
			return true;
		}

	} else if (sync_word == IRLOCK_SYNC) {
		return true;
	}

	return false;
}

/* read all available frames from sensor */
int IRLOCK::read_device()
{
	// if we sync, then we are starting a new frame, else fail
	if (!sync_device()) {
		return -ENOTTY;
	}

	// now read blocks until sync stops, first flush stale queue data
	_reports->flush();
	int num_objects = 0;

	while (sync_device() && (num_objects < IRLOCK_OBJECTS_MAX)) {
		struct irlock_s block;

		if (read_device_block(&block) != OK) {
			break;
		}

		_reports->force(&block);
	}

	return OK;
}

/* read a word (two bytes) from sensor */
int IRLOCK::read_device_word(uint16_t *word)
{
	uint8_t bytes[2];
	memset(bytes, 0, sizeof bytes);

	int status = transfer(nullptr, 0, &bytes[0], 2);
	*word = bytes[1] << 8 | bytes[0];

	return status;
}

/* read a single block (a full frame) from sensor */
int IRLOCK::read_device_block(struct irlock_s *block)
{
	uint8_t bytes[12];
	memset(bytes, 0, sizeof bytes);

	int status = transfer(nullptr, 0, &bytes[0], 12);
	uint16_t checksum = bytes[1] << 8 | bytes[0];
	block->signature = bytes[3] << 8 | bytes[2];
	block->center_x = bytes[5] << 8 | bytes[4];
	block->center_y = bytes[7] << 8 | bytes[6];
	block->width = bytes[9] << 8 | bytes[8];
	block->height = bytes[11] << 8 | bytes[10];

	// crc check
	if (block->signature + block->center_x + block->center_y + block->width + block->height != checksum) {
		_read_failures++;
		return -EIO;
	}

	block->timestamp = hrt_absolute_time();
	return status;
}

void irlock_usage()
{
	warnx("missing command: try 'start', 'stop', 'info', 'test'");
	warnx("options:");
	warnx("    -b i2cbus (%d)", IRLOCK_I2C_BUS);
}

int irlock_main(int argc, char *argv[])
{
	int i2cdevice = IRLOCK_I2C_BUS;

	/* jump over start/off/etc and look at options first */
	if (getopt(argc, argv, "b:") != EOF) {
		i2cdevice = (int)strtol(optarg, NULL, 0);
	}

	if (optind >= argc) {
		irlock_usage();
		exit(1);
	}

	const char *command = argv[optind];

	/* start driver */
	if (!strcmp(command, "start")) {
		if (g_irlock != nullptr) {
			errx(1, "driver has already been started");
		}

		/* instantiate global instance */
		g_irlock = new IRLOCK(i2cdevice, IRLOCK_I2C_ADDRESS);

		if (g_irlock == nullptr) {
			errx(1, "failed to allocated memory for driver");
		}

		/* initialise global instance */
		if (g_irlock->init() != OK) {
			IRLOCK *tmp_irlock = g_irlock;
			g_irlock = nullptr;
			delete tmp_irlock;
			errx(1, "failed to initialize device, stopping driver");
		}

		exit(0);
	}

	/* need the driver past this point */
	if (g_irlock == nullptr) {
		warnx("not started");
		irlock_usage();
		exit(1);
	}

	/* stop the driver */
	if (!strcmp(command, "stop")) {
		IRLOCK *tmp_irlock = g_irlock;
		g_irlock = nullptr;
		delete tmp_irlock;
		warnx("irlock stopped");
		exit(OK);
	}

	/* Print driver information */
	if (!strcmp(command, "info")) {
		g_irlock->info();
		exit(OK);
	}

	/* test driver */
	if (!strcmp(command, "test")) {
		g_irlock->test();
		exit(OK);
	}

	/* display usage info */
	irlock_usage();
	exit(0);
}