//
// Created by cfif on 16.03.2024.
//

#ifndef CAN_MODULE_CAN_FRAME_XCP_H
#define CAN_MODULE_CAN_FRAME_XCP_H

#include "SerialPortFrameIO.h"
#include "CanSerialPortFrame.h"
#include "LoggerToSerialPort.h"
#include "CmsisRtosThreadUtils.h"
#include "SystemMutexCmsis.h"

typedef enum {
    XCP_ERR_CMD_SYNCH = 0x00,
    XCP_ERR_CMD_BUSY = 0x10,
    XCP_ERR_DAQ_ACTIVE = 0x11,
    XCP_ERR_PGM_ACTIVE = 0x12,
    XCP_ERR_CMD_UNKNOWN = 0x20,
    XCP_ERR_CMD_SYNTAX = 0x21,
    XCP_ERR_OUT_OF_RANGE = 0x22,
    XCP_ERR_WRITE_PROTECTED = 0x23,
    XCP_ERR_ACCESS_DENIED = 0x24,
    XCP_ERR_ACCESS_LOCKED = 0x25,
    XCP_ERR_PAGE_NOT_VALID = 0x26,
    XCP_ERR_MODE_NOT_VALID = 0x27,
    XCP_ERR_SEGMENT_NOT_VALID = 0x28,
    XCP_ERR_SEQUENCE = 0x29,
    XCP_ERR_DAQ_CONFIG = 0x2A,
    XCP_ERR_MEMORY_OVERFLOW = 0x30,
    XCP_ERR_GENERIC = 0x31,
    XCP_ERR_VERIFY = 0x32,
    XCP_ERR_RESOURCE_TEMPORARY_NOT_ACCESSIBLE = 0x33,
    XCP_ERR_SUBCMD_UNKNOWN = 0x34
} eXcpError;

typedef enum {
    XCP_COMMAND_CONNECT = 0xFF,
    XCP_COMMAND_DISCONNECT = 0xFE,
    XCP_COMMAND_GET_STATUS = 0xFD,
    XCP_COMMAND_SYNCH = 0xFC,
    XCP_GET_COMM_MODE_INFO = 0xFB,

    XCP_GET_SEED = 0xF8,
    XCP_UNLOCK = 0xF7,

    XCP_COMMAND_SET_MTA = 0xF6,

    XCP_COMMAND_UPLOAD = 0xF5,
    XCP_COMMAND_SHORT_UPLOAD = 0xF4,

    XCP_COMMAND_DOWNLOAD = 0xF0,
    XCP_COMMAND_DOWNLOAD_NEXT = 0xEF,
    XCP_COMMAND_DOWNLOAD_MAX = 0xEE,

    XCP_CLEAR_DAQ_LIST = 0xE3,
    XCP_GET_DAQ_LIST_INFO = 0xD8,

    XCP_FREE_DAQ = 0xD6,
    XCP_ALLOC_DAQ = 0xD5,
    XCP_ALLOC_ODT = 0xD4,
    XCP_ALLOC_ODT_ENTRY = 0xD3,

    XCP_SET_DAQ_PTR = 0xE2,
    XCP_WRITE_DAQ = 0xE1,
    XCP_SET_DAQ_LIST_MODE = 0xE0,
    XCP_START_STOP_DAQ_LIST = 0xDE,
    XCP_START_STOP_SYNCH = 0xDD,

} eXcpTypeCommand;

typedef enum {
    XCP_STOP = 0,
    XCP_START = 1,
    XCP_SELECT = 2

} eXcpDAQ_Mode;

typedef enum {
    XCP_SYNC_STOP_ALL = 0,
    XCP_SYNC_START_SEL = 1,
    XCP_SYNC_STOP_SEL = 2

} eXcpDAQ_Sync_Mode;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t CAL_PAG: 1; // CALibration and PAGing
    uint8_t reserve1: 1;
    uint8_t DAQ: 1; // DAQ lists supported
    uint8_t STIM: 1; // STIMulation
    uint8_t PGM: 1; // Flash programming
    uint8_t reserve2: 1;
    uint8_t reserve3: 1;
    uint8_t reserve4: 1;

    uint8_t BYTE__ORDER: 1; // 0 - Intel
    uint8_t ADDRESS_GRANULARITY_0: 1;
    uint8_t ADDRESS_GRANULARITY_1: 1;
    uint8_t reserve5: 1;
    uint8_t reserve6: 1;
    uint8_t reserve7: 1;
    uint8_t SLAVE_BLOCK_MODE: 1;
    uint8_t OPTIONAL: 1;

    uint8_t MAX_CTO_;
    uint16_t MAX_DTO_;

    uint8_t XCP_PROTOCOL_VER;
    uint8_t XCP_TRANSPORT_VER;

} eXcpCommand_CONNECT;


typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t STORE_CAL_REQ: 1;
    uint8_t reserve1: 1;
    uint8_t STORE_DAQ_REQ: 1;
    uint8_t CLEAR_DAQ_REQ: 1;
    uint8_t reserve2: 1;
    uint8_t reserve3: 1;
    uint8_t DAQ_RUNNING: 1;
    uint8_t RESUME: 1;

    uint8_t CAL_PAG: 1;
    uint8_t reserve5: 1;
    uint8_t DAQ: 1;
    uint8_t STIM: 1;
    uint8_t PGM: 1;
    uint8_t reserve6: 1;
    uint8_t reserve7: 1;
    uint8_t reserve8: 1;

    uint8_t STATE_NUMBER;

    uint32_t SESSION_CONFIGURATION_ID;


} eXcpCommand_GET_STATUS;


typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t RESERVED1;

    uint8_t MASTER_BLOCK_MODE: 1;
    uint8_t INTERLEAVED_MODE: 1;
    uint8_t RESERVED2: 6;

    uint8_t RESERVED3;
    uint8_t MAX_BS;
    uint8_t MIN_ST;
    uint8_t QUEUE_SIZE;
    uint8_t VERSION;
} eXcpCommand_GET_COMM_MODE_INFO;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t COUNT;
} eXcpCommand_Upload;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t COUNT;
    uint8_t RESERVED;
    uint8_t ADR_EX;
    uint32_t ADR;
} eXcpCommand_SHORT_UPLOAD;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t MODE;
    uint8_t RESOURCE;
} eXcpCommand_REQ_GET_SEED;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t LEN;
    uint32_t KEY;
} eXcpCommand_GET_SEED;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t LEN;
    uint32_t KEY;
} eXcpCommand_REQ_UNLOCK;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint16_t RESERVED;
    uint8_t ADR_EX;
    uint32_t ADR;
} eXcpCommand_SET_MTA;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t COUNT;
} eXcpCommand_Download;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint16_t DAQ_LIST_NUMBER;
} eXcpCommand_Get_DAQ_List_Info_Request;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint16_t DAQ_LIST_NUMBER;
    uint8_t ODT_NUMBER;
    uint8_t ODT_ENTRY_NUMBER;
} eXcpCommand_SET_DAQ_PTR;


#define MAX_CTO 8
#define MAX_DTO 8

#define MAX_DAO 6
#define MAX_ODT 20
#define MAX_ODT_ENTRIES_SIZE 6

#define MAX_EVENT_CHANNEL 1

typedef struct {
    uint8_t ODT_ENTRIES_COUNT;
    uint8_t BIT_OFFSET[MAX_ODT_ENTRIES_SIZE];
    uint8_t ADR_EXT[MAX_ODT_ENTRIES_SIZE];
    uint8_t ODT_ENTRIES_SIZE[MAX_ODT_ENTRIES_SIZE];
    uint32_t ODT_ENTRIES_ADR[MAX_ODT_ENTRIES_SIZE];
} tXCP_ODT_ENTRIES;

//typedef struct {
//    uint8_t ALTERNATING;
//    uint8_t DIRECTION;
//    uint8_t DTO_CTR;
//    uint8_t TIMESTAMP;
//    uint8_t PID_OFF;
//    uint8_t TRANSMISSION_RATE_PRESCALER;
//    uint8_t DAQ_LIST_PRIORITY;

//    uint8_t COUNTER;

//} tXCP_EVENT_CHANNEL;

typedef struct {
    uint8_t SELECTED;
    uint8_t RUNNING;
    uint8_t ODT_COUNT;
    uint16_t EVENT_CHANNEL;

    uint8_t ALTERNATING;
    uint8_t DIRECTION;
    uint8_t DTO_CTR;
    uint8_t TIMESTAMP;
    uint8_t PID_OFF;
    uint8_t TRANSMISSION_RATE_PRESCALER;
    uint8_t DAQ_LIST_PRIORITY;

    uint8_t COUNTER;


    tXCP_ODT_ENTRIES ODT_NUMBER[MAX_ODT];
} tXCP_DAQ;


typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t PREDEFINED: 1;
    uint8_t EVENT_FIXED: 1;
    uint8_t DAQ: 1;
    uint8_t STIM: 1;
    uint8_t RESERVER: 4;

    uint8_t MAX_ODT_;
    uint8_t MAX_ODT_ENTRIES_;
    uint16_t FIXED_EVENT;

} eXcpCommand_Get_DAQ_List_Info;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint16_t DAQ_LIST_NUMBER;
    uint8_t ODT_NUMBER;
    uint8_t ODT_ENTRIES_COUNT;
} eXcpCommand_DAQ_Alloc_ODR_Entry;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t BIT_OFFSET;
    uint16_t ODT_ENTRY_SIZE;
    uint8_t ADR_EXT;
    uint32_t ADR;
} eXcpCommand_WRITE_DAQ;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t ALTERNATING: 1;
    uint8_t DIRECTION: 1;
    uint8_t RESERVED1: 1;
    uint8_t DTO_CTR: 1;
    uint8_t TIMESTAMP: 1;
    uint8_t PID_OFF: 1;
    uint8_t RESERVED2: 1;
    uint8_t RESERVED3: 1;

    uint16_t DAQ_LIST_NUMBER;
    uint16_t EVENT_CHANNEL_NUMBER;
    uint8_t TRANSMISSION_RATE_PRESCALER;
    uint8_t DAQ_LIST_PRIORITY;
} eXcpCommand_SET_DAQ_LIST_MODE;


typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    eXcpDAQ_Mode MODE;
    uint16_t DAQ_LIST_NUMBER;
} eXcpCommand_START_STOP_DAQ_LIST;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    eXcpDAQ_Sync_Mode MODE;
} eXcpCommand_START_STOP_SYNCH;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint16_t DAQ_COUNT;
} eXcpCommand_ALLOC_DAQ;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint8_t DAQ_LIST_NUMBER;
    uint8_t ODT_COUNT;
} eXcpCommand_ALLOC_ODT;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint8_t DAQ_LIST_NUMBER;
    uint8_t ODT_NUMBER;
    uint8_t ODT_ENTRIES_COUNT;
} eXcpCommand_ALLOC_ODT_ENTRY;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t DAQ_CONFIG_TYPE: 1;
    uint8_t PRESCALER_SUPPORTED: 1;
    uint8_t RESUME_SUPPORTED: 1;
    uint8_t BIT_STIM_SUPPORTED: 1;
    uint8_t TIMESTAMP_SUPPORTED: 1;
    uint8_t PID_OFF_SUPPORTED: 1;
    uint8_t OVERLOAD_MSB: 1;
    uint8_t OVERLOAD_EVENT: 1;

    uint16_t MAX_DAQ;
    uint16_t MAX_EVENT_CHANNEL_;
    uint8_t MIN_DAQ;

    uint8_t Optimisation_Type_0: 1;
    uint8_t Optimisation_Type_1: 1;
    uint8_t Optimisation_Type_2: 1;
    uint8_t Optimisation_Type_3: 1;
    uint8_t Address_Extension_ODT: 1;
    uint8_t Address_Extension_DAQ: 1;
    uint8_t Identification_Field_Type_0: 1;
    uint8_t Identification_Field_Type_1: 1;

} eXcpCommand_GET_DAQ_PROCESSOR_INFO;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t GRANULARITY_ODT_ENTRY_SIZE_DAQ;
    uint8_t MAX_ODT_ENTRY_SIZE_DAQ;
    uint8_t GRANULARITY_ODT_ENTRY_SIZE_STIM;
    uint8_t MAX_ODT_ENTRY_SIZE_STIM;
    uint8_t TIMESTAMP_MODE;
    uint16_t TIMESTAMP_TICKS;
} eXcpCommand_GET_DAQ_RESOLUTION_INFO;


typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint16_t DAQ_LIST_NUMBER;
} eXcpCommand_GET_DAQ_LIST_MODE_GET;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t SELECTED: 1;
    uint8_t DIRECTION: 1;
    uint8_t RESERVED1: 1;
    uint8_t DTO_CTR: 1;
    uint8_t TIMESTAMP: 1;
    uint8_t PID_OFF: 1;
    uint8_t RUNNING: 1;
    uint8_t RESUME: 1;

    uint16_t RESERVED2;
    uint16_t CURRENT_EVENT_CHANNEL_NUMBER;
    uint8_t CURRENT_PRESCALER;
    uint8_t CURRENT_DAQ_LIST_PRIORITY;

} eXcpCommand_GET_DAQ_LIST_MODE;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;
    uint8_t RESERVED;
    uint16_t EVENT_CHANNEL_NUMBER;
} eXcpCommand_GET_DAQ_EVENT_INFO_GET;

typedef struct __attribute__ ((packed)) {
    eXcpTypeCommand COM;

    uint8_t RESERVED1: 1;
    uint8_t RESERVED2: 1;
    uint8_t DAQ: 1;
    uint8_t STM: 1;
    uint8_t RESERVED3: 1;
    uint8_t RESERVED4: 1;
    uint8_t CONSISTENCY_DAQ: 1;
    uint8_t CONSISTENCY_EVENT: 1;

    uint8_t MAX_DAQ_LIST;
    uint8_t EVENT_CHANNEL_NAME_LENGTH;
    uint8_t EVENT_CHANNEL_TIME_CYCLE;
    uint8_t EVENT_CHANNEL_TIME_UNIT;
    uint8_t EVENT_CHANNEL_PRIORITY;

} eXcpCommand_GET_DAQ_EVENT_INFO;

typedef struct {
    tSerialPortFrameIO *ioCanFrame;
    tLoggerInterface *logger;

    uint8_t RND;
    uint8_t ADR_EXT;
    uint32_t ADR_MTA;

    uint16_t DAQ_LIST_NUMBER;
    uint8_t ODT_NUMBER;
    uint8_t ODT_ENTRY_NUMBER;

    can_rx_message_type canFrame;
    uint8_t downloadRemaining;
    uint8_t response[8];

    //tXCP_EVENT_CHANNEL EVENT_CHANNEL[MAX_EVENT_CHANNEL];
    tXCP_DAQ DAQ[MAX_DAO];
    uint16_t DAQ_COUNT;

    tRtcIO *rtcIO;

    osMutexId_t access;

    tStaticThreadBlock(1024) T_can_Listener_XCP;

} tCanSerialPortFrameXCP;

typedef uint8_t (*xcp_func_ptr)(tCanSerialPortFrameXCP *env);


void CanSerialPortFrameXcpInit(
        tCanSerialPortFrameXCP *env,
        tSerialPortFrameIO *ioCanFrame,
        tRtcIO *rtcIO,
        tLoggerInterface *logger
);

void CanXcpProcessing_Listener_Start(tCanSerialPortFrameXCP *env);

#endif //CAN_MODULE_CAN_FRAME_XCP_H