#ifndef _PROTOCOL_H_

#define _PROTOCOL_H_

#include <stdbool.h>

#include "config.h"

#include "can.h"

#include "flash.h"

#define DEFAULT_BROADCAST_ID 0x00000000

typedef struct {

    bool command;

    uint8_t id;

    uint16_t key;

    uint8_t sensor;

    union {

        float float_data;

        uint8_t byte_data[4];

    } data;

}  protocol_message_t;

typedef enum {

    ESTOP = 0x00,

    SILENCE_BUS = 0x01,

    SET_OUTPUT = 0X10,

    GET_DATA = 0x11,

    CONFIG = 0x12,

    CALIBRATE = 0x13,

} protocol_command_t;

typedef enum {

    MASTER = 0x00,

    AIRSENSE = 0x01,

    RELAYDRIVE = 0X02,

    WATERSENSE = 0x03,

    PROTOMODULE = 0x04,

} protocol_device_t;

typedef enum {

    NONE = 0x0000,

    DIGITAL_INPUT = 0x0001,

    FREQ_INPUT = 0x0002,

    ANALOG_INPUT = 0x0003,

    DIGITAL_OUTPUT = 0x0004,

    PWM_OUTPUT = 0x0005,

    ANALOG_OUTPUT = 0x0006,

    AIR_TEMP = 0x0007,

    AIR_HUMIDITY = 0x0008,

    AIR_PRESSURE = 0x0009,

    AMBIENT_LIGHT = 0x000A,

    WATER_TEMP = 0x000B,

    WATER_LEVEL = 0x000C,

    WATER_CONDUCTIVITY = 0x000D,

    WATER_PH = 0x000E,

    CAN_ID = 0x0100,

    DATA_RATE = 0x0101,

} protocol_data_key_t;

void protocol_init(protocol_device_t device);

flash_settings_t* protocol_get_settings(void);

bool protocol_receive_message(CanRxMsgTypeDef* can_message);

bool protocol_send_message(protocol_message_t* message);

bool protocol_process_message(protocol_message_t* message);

bool protocol_send_data(protocol_data_key_t key, uint8_t sensor, float data);

bool protocol_send_test();

bool _protocol_config(protocol_message_t* message);

bool protocol_estop(bool value);

bool protocol_set_output(protocol_message_t* message);

bool protocol_get_data(protocol_message_t* message);

bool protocol_config(protocol_message_t* message);

#endif //_PROTOCOL_H_

    protocol_message_t message;

    message.command = can_message->Data[0] & 0x80;

    message.id = can_message->Data[0] & 0x7F;

    message.key = (can_message->Data[1] << 8) | can_message->Data[2];

    message.sensor = can_message->Data[3];

    message.data.byte_data[0] = can_message->Data[4];

    message.data.byte_data[1] = can_message->Data[5];

    message.data.byte_data[2] = can_message->Data[6];

    message.data.byte_data[3] = can_message->Data[7];

    protocol_process_message(&message);

    return result;

}

bool protocol_send_message(protocol_message_t* message)

{

    bool result = true;

    uint8_t data[8];

    data[0] = (message->command & 0x80) | (message->id & 0x7F);

    data[1] = (message->key >> 8) & 0xFF;

    data[2] = (message->key >> 0) & 0xFF;

    data[3] = message->sensor;

    data[4] = message->data.byte_data[0];

    data[5] = message->data.byte_data[1];

    data[6] = message->data.byte_data[2];

    data[7] = message->data.byte_data[3];

    can_send(protocol_settings.val.can_id | 0x00000001, CAN_ID_STD, 8, data);

    return result;

}

bool protocol_process_message(protocol_message_t* message)

{

    bool result = true;

    if (message->command)

    {

        switch(message->id)

        {

            case ESTOP:

                {

                    //call estop weak function

                    result = protocol_estop(message->data.float_data!=0.0f);

                }

                break;

            case SILENCE_BUS:

                {

                    //silence can bus

                    result = can_silence_bus(message->data.float_data!=0.0f);

                }

                break;

            case SET_OUTPUT:

                {

                    //call set output weak function

                    result = protocol_set_output(message);

                }

                break;

            case GET_DATA:

                {

                    //call get data weak function

                    result = protocol_get_data(message);

                }

                break;

            case CONFIG:

                {

                    result = _protocol_config(message);

                }

                break;

            default:

                result = false;

                break;

        }

    }

    return result;

}

bool protocol_send_data(protocol_data_key_t key, uint8_t sensor, float data)

{

    bool result = true;

    protocol_message_t message;

    message.command = false;

    message.id = protocol_device;

    message.key = key;

    message.sensor = sensor;

    message.data.float_data = data;

    result = protocol_send_message(&message);

    return result;

}

bool _protocol_config(protocol_message_t* message)

{

    bool result = false;

    if (message->key == CAN_ID)

    {

        uint32_t can_id = (uint16_t) message->data.float_data;

        protocol_settings.val.can_id = can_id;

        flash_save(&protocol_settings);

    }

    else if (message->key == DATA_RATE)

    {

        uint16_t data_rate = (uint16_t) message->data.float_data;

        protocol_settings.val.data_rate = data_rate * 1000;

        flash_save(&protocol_settings);

    }

    else if (message->key == LED_BRIGHTNESS)

    {

        uint8_t brightness = (uint8_t)message->data.float_data;

        result = led_set_brightness(brightness);

        protocol_settings.val.led_brightness = brightness;

        flash_save(&protocol_settings);

    }

    else

    {

        //call config weak function

        result = protocol_config(message);

    }

    return result;

}

__weak bool protocol_estop(bool value)

{

    return false;

}

__weak bool protocol_set_output(protocol_message_t* message)

{

    return false;

}

__weak bool protocol_get_data(protocol_message_t* message)

{

    return false;

}

__weak bool protocol_config(protocol_message_t* message)

{

    return false;

}