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#include "AM32Settings.h"
#include "../DShotCommon.h"
#include <px4_platform_common/log.h>

static constexpr int EEPROM_SIZE = 48;  // AM32 sends raw eeprom data
static constexpr int RESPONSE_SIZE = 49; // 48B data + 1B CRC

uORB::Publication<am32_eeprom_read_s> AM32Settings::_am32_eeprom_read_pub{ORB_ID(am32_eeprom_read)};

AM32Settings::AM32Settings(int index)
	: _esc_index(index)
{}

int AM32Settings::getExpectedResponseSize()
{
	return RESPONSE_SIZE;
}

void AM32Settings::publish_latest()
{
	// PX4_INFO("publish_latest()");
	am32_eeprom_read_s data = {};
	data.timestamp = hrt_absolute_time();
	data.index = _esc_index;
	memcpy(data.data, &_eeprom_data, sizeof(data.data));
	_am32_eeprom_read_pub.publish(data);
}

bool AM32Settings::decodeInfoResponse(const uint8_t *buf, int size)
{
	if (size != RESPONSE_SIZE) {
		return false;
	}

	uint8_t checksum = crc8(buf, EEPROM_SIZE);
	uint8_t checksum_data = buf[EEPROM_SIZE];

	if (checksum != checksum_data) {
		PX4_WARN("Command Response checksum failed!");
		return false;
	}

	// PX4_INFO("Successfully received AM32 settings from ESC%d", _esc_index + 1);

	// Store data for retrieval later if requested
	memcpy(&_eeprom_data, buf, EEPROM_SIZE);

	// Publish data immedietly
	publish_latest();

	return true;
}