//
// Created by nano on 4/26/25.
//

#include "communication.h"

#include <stdio.h>
#include <stdlib.h>
#include <string.h>


struct sp_port ** port_list;
struct sp_port * port;
struct sp_event_set *event_set;

void comm_init_communication() {
	/*
	 * Initializes the serial communication for the usb -> uart board
	 */
	port_list=comm_get_port_list();
	int portnr=0;
	comm_list_serial_ports(port_list);
	printf("Chose a port: ");
	scanf("%d",&portnr);
	sp_copy_port(port_list[portnr], &port);
	sp_free_port_list(port_list);
	comm_open_port(port);
}


void comm_end_communication(struct sp_port *port) {
	/*
	 * Ends the serial communication for the usb -> uart board
	 */
	check(sp_close(port));
	sp_free_port(port);
	//sp_free_port_list(port_list);
}

int comm_await() {
	// Await data from the robot
	return (sp_wait(event_set, 50) == SP_OK);
}

int comm_read_byte(byte *data) {
	//read available data
	//TODO: IMPLEMENT
	return 0;
}


int comm_write_byte(byte data) {
	// we are writing 8 bit bytes to the fpga anyways and pc -> fpga only needs to tell what do to next, can be fit in 8 bits
	//TODO: IMPLEMENT
	return 0;
}


struct sp_port **comm_get_port_list() {
	struct sp_port **port_list;
	enum sp_return result = sp_list_ports(&port_list);
	if (result != SP_OK) {
		printf("Error listing serial ports\n");
		exit(-1);
	}
	return port_list;
}

void comm_list_serial_ports(struct sp_port **port_list) {
	printf("Port list:\n");
	for (int i=0;port_list[i]!= NULL; i++) {
		char *port_name = sp_get_port_name(port_list[i]);
		printf("Port %d: %s\n", i, port_name);
	}
}

void comm_open_port(struct sp_port *port) {
	/*
	 * Opens communication to the selected serial port and sets the correct parameters for the zigbee carrier board.
	 * Also add event to see when data arrives.
	 */
	check(sp_open(port,SP_MODE_READ_WRITE));
	check(sp_set_baudrate(port,19200));
	check(sp_set_bits(port,8));
	check(sp_set_parity(port,SP_PARITY_NONE));
	check(sp_set_stopbits(port,1));

	check(sp_new_event_set(&event_set));
	sp_add_port_events(event_set, port, SP_EVENT_RX_READY);
}

/** Helper function for error handling. Taken from libserialport examples */
int check(enum sp_return result)
{
	/* For this example we'll just exit on any error by calling abort(). */
	char *error_message;

	switch (result) {
		case SP_ERR_ARG:
			printf("Error: Invalid argument.\n");
		abort();
		case SP_ERR_FAIL:
			error_message = sp_last_error_message();
		printf("Error: Failed: %s\n", error_message);
		sp_free_error_message(error_message);
		abort();
		case SP_ERR_SUPP:
			printf("Error: Not supported.\n");
		abort();
		case SP_ERR_MEM:
			printf("Error: Couldn't allocate memory.\n");
		abort();
		case SP_OK:
			default:
					return result;
	}
}