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/**
 * @file NodeClient.hpp
 *
 * Defines basic implementation of UAVCAN PNP for dynamic Node ID
 *
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 */

#pragma once


#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>

#include "CanardInterface.hpp"

#include <uavcan/node/ID_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_2_0.h>

#include "Services/AccessRequest.hpp"
#include "Services/ListRequest.hpp"

#define PNP1_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
#define PNP1_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
#define PNP2_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
#define PNP2_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_

class NodeClient : public UavcanBaseSubscriber
{
public:
	NodeClient(CanardHandle &handle, UavcanParamManager &pmgr) : UavcanBaseSubscriber(handle, "", "NodeIDAllocationData",
				0),
		_canard_handle(handle) { };

	void subscribe() override
	{

		_canard_handle.RxSubscribe(CanardTransferKindMessage,
					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
					   CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
					   &_subj_sub._canard_sub);
	}

	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);

	void callback(const CanardRxTransfer &receive); // NodeIDAllocation callback

	void update();

private:

	CanardHandle &_canard_handle;
	CanardTransferID _node_id_alloc_transfer_id{0};

	hrt_abstime _nodealloc_request_last{0};
};