#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...","CCANWatchdog");

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

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

    mWDTInitialized = true;

    return RET_OK;
}

void CCANWatchdog::WatchdogTimeoutTimerExpired()
{
    char data = mWDTCANMsg.mCANMsgData[7];
    data ^= (char)0x01;
    mWDTCANMsg.mCANMsgData[7] = data;
    mCANDriverIF->SendCANMessage(mCANDeviceHandle,mWDTCANMsg);
    qDebug("Sending 0x%X to CAN",data);
    //QString LogMsg = QString("Écriture du watchdog.  CAN ID %1  Payload: 0x%2 0x%3 0x%4 0x%5 0x%6 0x%7 0x%8 0x%9").arg(mWDTCANMsg.mCANMsgID,0,16).arg(mWDTCANMsg.mCANMsgData.at(7),0,16).arg(mWDTCANMsg.mCANMsgData.at(6),0,16).arg(mWDTCANMsg.mCANMsgData.at(5),0,16).arg(mWDTCANMsg.mCANMsgData.at(4),0,16).arg(mWDTCANMsg.mCANMsgData.at(3),0,16).arg(mWDTCANMsg.mCANMsgData.at(2),0,16).arg(mWDTCANMsg.mCANMsgData.at(1),0,16).arg(mWDTCANMsg.mCANMsgData[0],0,16);
    QString LogMsg = QString("Écriture du watchdog.  CAN ID 0x%1").arg(mWDTCANMsg.mCANMsgID,0,16);
    CGeneralMessagesLogDispatcher::instance()->AddLogMessage(LogMsg,"CCANWatchdog",true,3);
}

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;
}