#include "CANWatchdog.h"
#include "GeneralMessagesLogDispatcher.h"

CCANWatchdog::CCANWatchdog()
{
    mCANDriverIF = new CPCANInterface;
    mIsCANInitialized = false;

    mWatchdogTimer = new QTimer;
    mWatchdogTimer->setSingleShot(false);
    mCANDriverIF = 0;
    mWDTInitialized = false;

    connect(mWatchdogTimer,&QTimer::timeout,this,&CCANWatchdog::WatchdogTimeoutTimerExpired);
}

int CCANWatchdog::Init(CPCANInterface *CANDriverIF, TPCANHandle CANDeviceHandle, unsigned int WDTPeriod, unsigned int CANMsgID)
{
    if(WDTPeriod < 200)
    {
        WDTPeriod = 200;
        qDebug("CANWatchdog:: Trying to init with WDT period lower tan 200ms");
        return RET_GENERAL_ERROR;
    }

    mCANDeviceHandle = CANDeviceHandle;
    mWDTPeriod = WDTPeriod;
    mCANDriverIF = CANDriverIF;
    CGeneralMessagesLogDispatcher::instance()->AddLogMessage("Démarrage du Watchdog CAN...");

    mWatchdogTimer->setInterval(mWDTPeriod);
    mWatchdogTimer->setSingleShot(false);

    mWDTCANMsg.mCANMsgID = CANMsgID;
    mWDTCANMsg.mCANMsgLength = 1;
    mWDTCANMsg.mCANMsgData.clear();
    mWDTCANMsg.mCANMsgData.append(8,(char)0x00);
    mWDTCANMsg.mCANMsgName = "Watchdog";

    mWDTInitialized = true;

    return RET_OK;
}

void CCANWatchdog::WatchdogTimeoutTimerExpired()
{
    char data = mWDTCANMsg.mCANMsgData[0];
    data ^= (char)0x01;
    mWDTCANMsg.mCANMsgData[0] = data;
    mCANDriverIF->SendCANMessage(mCANDeviceHandle,mWDTCANMsg);
 //   qDebug("Sending 0x%X to CAN",data);
}

int CCANWatchdog::StartWDT()
{
    if(mWDTInitialized == false)
    {
        return RET_GENERAL_ERROR;
    }

    mWatchdogTimer->start();
    return RET_OK;
}

int CCANWatchdog::StopWDT()
{
    if(mWDTInitialized == false)
    {
        return RET_GENERAL_ERROR;
    }
    mWatchdogTimer->stop();
    return RET_OK;
}