/*
 * CANopen Object Dictionary interface
 *
 * @file        CO_ODinterface.c
 * @author      Janez Paternoster
 * @copyright   2020 Janez Paternoster
 *
 * This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
 * file except in compliance with the License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software distributed under the License is
 * distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 */

#include <string.h>
#define OD_DEFINITION
#include "301/CO_ODinterface.h"

ODR_t
OD_readOriginal(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) {
    if ((stream == NULL) || (buf == NULL) || (countRead == NULL)) {
        return ODR_DEV_INCOMPAT;
    }

    OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
    const uint8_t* dataOrig = stream->dataOrig;

    if (dataOrig == NULL) {
        return ODR_SUB_NOT_EXIST;
    }

    ODR_t returnCode = ODR_OK;

    /* If previous read was partial or OD variable length is larger than
     * current buffer size, then data was (will be) read in several segments */
    if ((stream->dataOffset > 0U) || (dataLenToCopy > count)) {
        if (stream->dataOffset >= dataLenToCopy) {
            return ODR_DEV_INCOMPAT;
        }
        /* Reduce for already copied data */
        dataLenToCopy -= stream->dataOffset;
        dataOrig += stream->dataOffset;

        if (dataLenToCopy > count) {
            /* Not enough space in destination buffer */
            dataLenToCopy = count;
            stream->dataOffset += dataLenToCopy;
            returnCode = ODR_PARTIAL;
        } else {
            stream->dataOffset = 0; /* copy finished, reset offset */
        }
    }

    (void)memcpy((void*)buf, (const void*)dataOrig, dataLenToCopy);

    *countRead = dataLenToCopy;
    return returnCode;
}

ODR_t
OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
    if ((stream == NULL) || (buf == NULL) || (countWritten == NULL)) {
        return ODR_DEV_INCOMPAT;
    }

    OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
    OD_size_t dataLenRemain = dataLenToCopy;      /* remaining length of dataOrig buffer */
    uint8_t* dataOrig = stream->dataOrig;

    if (dataOrig == NULL) {
        return ODR_SUB_NOT_EXIST;
    }

    ODR_t returnCode = ODR_OK;

    /* If previous write was partial or OD variable length is larger than current buffer size,
     * then data was (will be) written in several segments */
    if ((stream->dataOffset > 0U) || (dataLenToCopy > count)) {
        if (stream->dataOffset >= dataLenToCopy) {
            return ODR_DEV_INCOMPAT;
        }
        /* reduce for already copied data */
        dataLenToCopy -= stream->dataOffset;
        dataLenRemain = dataLenToCopy;
        dataOrig += stream->dataOffset;

        if (dataLenToCopy > count) {
            /* Remaining data space in OD variable is larger than current count
             * of data, so only current count of data will be copied */
            dataLenToCopy = count;
            stream->dataOffset += dataLenToCopy;
            returnCode = ODR_PARTIAL;
        } else {
            stream->dataOffset = 0; /* copy finished, reset offset */
        }
    }

    if (dataLenToCopy < count) {
        /* OD variable is smaller than current amount of data */
        return ODR_DATA_LONG;
    }

    /* additional check for Misra c compliance */
    if ((dataLenToCopy <= dataLenRemain) && (dataLenToCopy <= count)) {
        (void)memcpy((void*)dataOrig, (const void*)buf, dataLenToCopy);
    } else {
        return ODR_DEV_INCOMPAT;
    }

    *countWritten = dataLenToCopy;
    return returnCode;
}

/* Read value from variable from Object Dictionary disabled, see OD_IO_t */
static ODR_t
OD_readDisabled(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) {
    (void)stream;
    (void)buf;
    (void)count;
    (void)countRead;
    return ODR_UNSUPP_ACCESS;
}

/* Write value to variable from Object Dictionary disabled, see OD_IO_t */
static ODR_t
OD_writeDisabled(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
    (void)stream;
    (void)buf;
    (void)count;
    (void)countWritten;
    return ODR_UNSUPP_ACCESS;
}

OD_entry_t*
OD_find(OD_t* od, uint16_t index) {
    if ((od == NULL) || (od->size == 0U)) {
        return NULL;
    }

    uint16_t min = 0;
    uint16_t max = od->size - 1U;

    /* Fast search in ordered Object Dictionary. If indexes are mixed, this won't work. If Object
     * Dictionary has up to N entries, then the max number of loop passes is log2(N) */
    while (min < max) {
        /* get entry between min and max */
        uint16_t cur = (min + max) >> 1;
        OD_entry_t* entry = &od->list[cur];

        if (index == entry->index) {
            return entry;
        }

        if (index < entry->index) {
            max = (cur > 0U) ? (cur - 1U) : cur;
        } else {
            min = cur + 1U;
        }
    }

    if (min == max) {
        OD_entry_t* entry = &od->list[min];
        if (index == entry->index) {
            return entry;
        }
    }

    return NULL; /* entry does not exist in OD */
}

ODR_t
OD_getSub(const OD_entry_t* entry, uint8_t subIndex, OD_IO_t* io, bool_t odOrig) {
    if ((entry == NULL) || (entry->odObject == NULL)) {
        return ODR_IDX_NOT_EXIST;
    }
    if (io == NULL) {
        return ODR_DEV_INCOMPAT;
    }

    ODR_t ret = ODR_OK;
    OD_stream_t* stream = &io->stream;

    /* attribute, dataOrig and dataLength, depends on object type */
    switch (entry->odObjectType & (uint8_t)ODT_TYPE_MASK) {
        case ODT_VAR: {
            if (subIndex > 0U) {
                ret = ODR_SUB_NOT_EXIST;
                break;
            }
            CO_PROGMEM OD_obj_var_t* odo = entry->odObject;

            stream->attribute = odo->attribute;
            stream->dataOrig = odo->dataOrig;
            stream->dataLength = odo->dataLength;
            break;
        }
        case ODT_ARR: {
            if (subIndex >= entry->subEntriesCount) {
                ret = ODR_SUB_NOT_EXIST;
                break;
            }
            CO_PROGMEM OD_obj_array_t* odo = entry->odObject;

            if (subIndex == 0U) {
                stream->attribute = odo->attribute0;
                stream->dataOrig = odo->dataOrig0;
                stream->dataLength = 1;
            } else {
                stream->attribute = odo->attribute;
                uint8_t* ptr = odo->dataOrig;
                stream->dataOrig = (ptr == NULL) ? ptr : (ptr + (odo->dataElementSizeof * (uint8_t)(subIndex - 1U)));
                stream->dataLength = odo->dataElementLength;
            }
            break;
        }
        case ODT_REC: {
            CO_PROGMEM OD_obj_record_t* odoArr = entry->odObject;
            CO_PROGMEM OD_obj_record_t* odo = NULL;
            for (uint8_t i = 0; i < entry->subEntriesCount; i++) {
                if (odoArr[i].subIndex == subIndex) {
                    odo = &odoArr[i];
                    break;
                }
            }
            if (odo == NULL) {
                ret = ODR_SUB_NOT_EXIST;
                break;
            }

            stream->attribute = odo->attribute;
            stream->dataOrig = odo->dataOrig;
            stream->dataLength = odo->dataLength;
            break;
        }
        default: {
            ret = ODR_DEV_INCOMPAT;
            break;
        }
    }

    if (ret == ODR_OK) {
        /* Access data from the original OD location */
        if ((entry->extension == NULL) || odOrig) {
            io->read = OD_readOriginal;
            io->write = OD_writeOriginal;
            stream->object = NULL;
        }
        /* Access data from extension specified by application */
        else {
            io->read = (entry->extension->read != NULL) ? entry->extension->read : OD_readDisabled;
            io->write = (entry->extension->write != NULL) ? entry->extension->write : OD_writeDisabled;
            stream->object = entry->extension->object;
        }

        /* Reset stream data offset */
        stream->dataOffset = 0;

        /* Add informative data */
        stream->index = entry->index;
        stream->subIndex = subIndex;
    }

    return ret;
}

uint32_t
OD_getSDOabCode(ODR_t returnCode) {
    static const uint32_t abortCodes[(uint8_t)ODR_COUNT] = {
        0x00000000UL, /* No abort */
        0x05040005UL, /* Out of memory */
        0x06010000UL, /* Unsupported access to an object */
        0x06010001UL, /* Attempt to read a write only object */
        0x06010002UL, /* Attempt to write a read only object */
        0x06020000UL, /* Object does not exist in the object dictionary */
        0x06040041UL, /* Object cannot be mapped to the PDO */
        0x06040042UL, /* Num and len of object to be mapped exceeds PDO len */
        0x06040043UL, /* General parameter incompatibility reasons */
        0x06040047UL, /* General internal incompatibility in device */
        0x06060000UL, /* Access failed due to hardware error */
        0x06070010UL, /* Data type does not match, length does not match */
        0x06070012UL, /* Data type does not match, length too high */
        0x06070013UL, /* Data type does not match, length too short */
        0x06090011UL, /* Sub index does not exist */
        0x06090030UL, /* Invalid value for parameter (download only). */
        0x06090031UL, /* Value range of parameter written too high */
        0x06090032UL, /* Value range of parameter written too low */
        0x06090036UL, /* Maximum value is less than minimum value. */
        0x060A0023UL, /* Resource not available: SDO connection */
        0x08000000UL, /* General error */
        0x08000020UL, /* Data cannot be transferred or stored to application */
        0x08000021UL, /* Data cannot be transferred because of local control */
        0x08000022UL, /* Data cannot be tran. because of present device state */
        0x08000023UL, /* Object dict. not present or dynamic generation fails */
        0x08000024UL  /* No data available */
    };

    return ((returnCode < ODR_OK) || (returnCode >= ODR_COUNT)) ? abortCodes[ODR_DEV_INCOMPAT] : abortCodes[returnCode];
}

ODR_t
OD_get_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig) {
    if (val == NULL) {
        return ODR_DEV_INCOMPAT;
    }

    OD_IO_t io = {NULL};
    OD_stream_t* stream = &io.stream;
    OD_size_t countRd = 0;

    ODR_t ret = OD_getSub(entry, subIndex, &io, odOrig);

    if (ret != ODR_OK) {
        return ret;
    }
    if (stream->dataLength != len) {
        return ODR_TYPE_MISMATCH;
    }

    return io.read(stream, val, len, &countRd);
}

ODR_t
OD_set_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig) {
    if (val == NULL) {
        return ODR_DEV_INCOMPAT;
    }

    OD_IO_t io = {NULL};
    OD_stream_t* stream = &io.stream;
    OD_size_t countWritten = 0;

    ODR_t ret = OD_getSub(entry, subIndex, &io, odOrig);

    if (ret != ODR_OK) {
        return ret;
    }
    if (stream->dataLength != len) {
        return ODR_TYPE_MISMATCH;
    }

    return io.write(stream, val, len, &countWritten);
}

void*
OD_getPtr(const OD_entry_t* entry, uint8_t subIndex, OD_size_t len, ODR_t* err) {
    ODR_t errCopy;
    OD_IO_t io;
    OD_stream_t* stream = &io.stream;

    errCopy = OD_getSub(entry, subIndex, &io, true);

    if (errCopy == ODR_OK) {
        if ((stream->dataOrig == NULL) || (stream->dataLength == 0U)) {
            errCopy = ODR_DEV_INCOMPAT;
        } else if ((len != 0U) && (len != stream->dataLength)) {
            errCopy = ODR_TYPE_MISMATCH;
        } else { /* MISRA C 2004 14.10 */
        }
    }

    if (err != NULL) {
        *err = errCopy;
    }

    return (errCopy == ODR_OK) ? stream->dataOrig : NULL;
}