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/**
 * @file PublicationManager.cpp
 *
 * Manages the dynamic (run-time configurable) UAVCAN publications
 *
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 * @author Jacob Crabill <jacob@flyvoly.com>
 */


#include "PublicationManager.hpp"

PublicationManager::~PublicationManager()
{
	_dynpublishers.clear();
}

void PublicationManager::updateDynamicPublications()
{
	for (auto &sub : _uavcan_pubs) {

		bool found_publisher = false;

		for (auto &dynpub : _dynpublishers) {
			// Check if subscriber has already been created
			char full_subj_name[200];
			snprintf(full_subj_name, sizeof(full_subj_name), "%s%s", dynpub->getPrefixName(), dynpub->getSubjectName());
			const uint8_t instance = dynpub->getInstance();

			if (strcmp(full_subj_name, sub.subject_name) == 0 && instance == sub.instance) {
				found_publisher = true;
				break;
			}
		}

		if (found_publisher) {
			continue;
		}

		char uavcan_param[90];
		snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.pub.%s.%d.id", sub.subject_name, sub.instance);
		uavcan_register_Value_1_0 value;

		if (_param_manager.GetParamByName(uavcan_param, value)) {
			uint16_t port_id = value.natural16.value.elements[0];

			if (port_id <= CANARD_PORT_ID_MAX) { // PortID is set, create a subscriber
				UavcanPublisher *dynpub = sub.create_pub(_canard_handle, _param_manager);

				if (dynpub == nullptr) {
					PX4_ERR("Out of memory");
					return;
				}

				_dynpublishers.add(dynpub);

				dynpub->updateParam();
			}

		} else {
			PX4_ERR("Port ID param for publisher %s.%u not found", sub.subject_name, sub.instance);
			return;
		}
	}
}

void PublicationManager::printInfo()
{
	for (auto &dynpub : _dynpublishers) {
		dynpub->printInfo();
	}
}

void PublicationManager::updateParams()
{
	for (auto &dynpub : _dynpublishers) {
		dynpub->updateParam();
	}

	// Check for any newly-enabled publication
	updateDynamicPublications();
}

UavcanPublisher *PublicationManager::getPublisher(const char *subject_name)
{
	for (auto &dynpub : _dynpublishers) {
		if (strcmp(dynpub->getSubjectName(), subject_name) == 0) {
			return dynpub;
		}
	}

	return NULL;
}

void PublicationManager::fillSubjectIdList(uavcan_node_port_SubjectIDList_0_1 &publishers_list)
{
	uavcan_node_port_SubjectIDList_0_1_select_sparse_list_(&publishers_list);

	for (auto &dynpub : _dynpublishers) {
		publishers_list.sparse_list.elements[publishers_list.sparse_list.count].value = dynpub->id();
		publishers_list.sparse_list.count++;
	}
}

void PublicationManager::update()
{
	for (auto &dynpub : _dynpublishers) {
		dynpub->update();
	}
}