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/**
 * @file ParamManager.cpp
 *
 * Implements basic functionality of UAVCAN parameter management class
 *
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#include "ParamManager.hpp"
#include <px4_platform_common/defines.h>

bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strcmp(param_name, param.uavcan_name) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			return param.px4_param_to_register_value(param_handle, value);
		}
	}

	return false;
}

bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			return param.px4_param_to_register_value(param_handle, value);
		}
	}

	return false;
}

bool UavcanParamManager::GetParamName(uint32_t id, uavcan_register_Name_1_0 &name)
{
	if (id >= sizeof(_uavcan_params) / sizeof(UavcanParamBinder)) {
		return false;
	}

	strncpy((char *)name.name.elements, _uavcan_params[id].uavcan_name, uavcan_register_Name_1_0_name_ARRAY_CAPACITY_);

	name.name.count = strlen(_uavcan_params[id].uavcan_name);

	return true;
}

bool UavcanParamManager::SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			return param.register_value_to_px4_param(value, param_handle);
		}
	}

	return false;
}