/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Utility.h"

//#include "NetworkCommunication/FRCComm.h"
#include "HAL/HAL.hpp"
#include "HAL/cpp/StackTrace.hpp"
#include "Task.h"
#include <stdio.h>
#include <string.h>
#include "nivision.h"

static bool stackTraceEnabled = false;
static bool suspendOnAssertEnabled = false;

/**
 * Enable Stack trace after asserts.
 */
void wpi_stackTraceOnAssertEnable(bool enabled)
{
	stackTraceEnabled = enabled;
}

/**
 * Enable suspend on asssert.
 * If enabled, the user task will be suspended whenever an assert fails. This
 * will allow the user to attach to the task with the debugger and examine variables
 * around the failure.
 */
void wpi_suspendOnAssertEnabled(bool enabled)
{
	suspendOnAssertEnabled = enabled;
}

static void wpi_handleTracing()
{
	if (stackTraceEnabled)
	{
		printf("\n-----------<Stack Trace>----------------\n");
		printCurrentStackTrace();
	}
	printf("\n");
}

/**
 * Assert implementation.
 * This allows breakpoints to be set on an assert.
 * The users don't call this, but instead use the wpi_assert macros in Utility.h.
 */
bool wpi_assert_impl(bool conditionValue, 
					 const char *conditionText,
					 const char *message,
					 const char *fileName,
					 uint32_t lineNumber, 
					 const char *funcName)
{
	if (!conditionValue)
	{   
		// Error string buffer
		char error[256];
				
		// If an error message was specified, include it
		// Build error string
		if(message != NULL) {
			sprintf(error, "Assertion failed: \"%s\", \"%s\" failed in %s() in %s at line %dd\n", 
							 message, conditionText, funcName, fileName, lineNumber);
		} else {
			sprintf(error, "Assertion failed: \"%s\" in %s() in %s at line %dd\n", 
							 conditionText, funcName, fileName, lineNumber);
		}
		
		// Print to console and send to remote dashboard
		printf("\n\n>>>>%s", error);
		HALSetErrorData(error, strlen(error), 100);
		
		wpi_handleTracing();
		if (suspendOnAssertEnabled) suspendTask(0);
	}
	return conditionValue;
}

/**
 * Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
 * This should not be called directly; it should only be used by wpi_assertEqual_impl
 * and wpi_assertNotEqual_impl.
 */
void wpi_assertEqual_common_impl(int valueA,
					 	         int valueB,
					 	         const char *equalityType,
						         const char *message,
						         const char *fileName,
						         uint32_t lineNumber, 
						         const char *funcName)
{
	// Error string buffer
	char error[256];
			
	// If an error message was specified, include it
	// Build error string
	if(message != NULL) {
		sprintf(error, "Assertion failed: \"%s\", \"%d\" %s \"%d\" in %s() in %s at line %d\n", 
						 message, valueA, equalityType, valueB, funcName, fileName, lineNumber);
	} else {
		sprintf(error, "Assertion failed: \"%d\" %s \"%d\" in %s() in %s at line %d\n", 
						 valueA, equalityType, valueB, funcName, fileName, lineNumber);
	}
	
	// Print to console and send to remote dashboard
	printf("\n\n>>>>%s", error);
	HALSetErrorData(error, strlen(error), 100);
	
	wpi_handleTracing();
	if (suspendOnAssertEnabled) suspendTask(0);
}

/**
 * Assert equal implementation.
 * This determines whether the two given integers are equal. If not,
 * the value of each is printed along with an optional message string.
 * The users don't call this, but instead use the wpi_assertEqual macros in Utility.h.
 */
bool wpi_assertEqual_impl(int valueA,
					 	  int valueB,
						  const char *message,
						  const char *fileName,
						  uint32_t lineNumber, 
						  const char *funcName)
{
	if(!(valueA == valueB))
	{
		wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName, lineNumber, funcName);
	}
	return valueA == valueB;
}

/**
 * Assert not equal implementation.
 * This determines whether the two given integers are equal. If so,
 * the value of each is printed along with an optional message string.
 * The users don't call this, but instead use the wpi_assertNotEqual macros in Utility.h.
 */
bool wpi_assertNotEqual_impl(int valueA,
					 	     int valueB,
						     const char *message,
						     const char *fileName,
						     uint32_t lineNumber, 
						     const char *funcName)
{
	if(!(valueA != valueB))
	{
		wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName, lineNumber, funcName);
	}
	return valueA != valueB;
}


/**
 * Return the FPGA Version number.
 * For now, expect this to be competition year.
 * @return FPGA Version number.
 */
uint16_t GetFPGAVersion()
{
	int32_t status = 0;
	uint16_t version = getFPGAVersion(&status);
	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
	return version;
}

/**
 * Return the FPGA Revision number.
 * The format of the revision is 3 numbers.
 * The 12 most significant bits are the Major Revision.
 * the next 8 bits are the Minor Revision.
 * The 12 least significant bits are the Build Number.
 * @return FPGA Revision number.
 */
uint32_t GetFPGARevision()
{
	int32_t status = 0;
	uint32_t revision = getFPGARevision(&status);
	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
	return revision;
}

/**
 * Read the microsecond-resolution timer on the FPGA.
 * 
 * @return The current time in microseconds according to the FPGA (since FPGA reset).
 */
uint32_t GetFPGATime()
{
	int32_t status = 0;
	uint32_t time = getFPGATime(&status);
	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
	return time;
}

// RT hardware access functions exported from ni_emb.out
extern "C"
{
	int32_t UserSwitchInput(int32_t nSwitch);
	int32_t LedInput(int32_t led);
	int32_t LedOutput(int32_t led, int32_t value);
}

/**
 * Read the value of the USER1 DIP switch on the cRIO.
 */
int32_t GetRIOUserSwitch()
{
	int32_t switchValue = UserSwitchInput(0);
	wpi_assert(switchValue >= 0);
	return switchValue > 0;
}

/**
 * Set the state of the USER1 status LED on the cRIO.
 */
void SetRIOUserLED(uint32_t state)
{
	LedOutput(0, state > 0);
}

/**
 * Get the current state of the USER1 status LED on the cRIO.
 * @return The curent state of the USER1 LED.
 */
int32_t GetRIOUserLED()
{
	return LedInput(0);
}

/**
 * Toggle the state of the USER1 status LED on the cRIO.
 * @return The new state of the USER1 LED.
 */
int32_t ToggleRIOUserLED()
{
	int32_t ledState = !GetRIOUserLED();
	SetRIOUserLED(ledState);
	return ledState;
}

/**
 * Set the state of the FPGA status LED on the cRIO.
 */
void SetRIO_FPGA_LED(uint32_t state)
{
	int32_t status = 0;
	setFPGALED(state, &status);
	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Get the current state of the FPGA status LED on the cRIO.
 * @return The curent state of the FPGA LED.
 */
int32_t GetRIO_FPGA_LED()
{
	int32_t status = 0;
	int32_t state = getFPGALED(&status);
	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
	return state;
}

/**
 * Toggle the state of the FPGA status LED on the cRIO.
 * @return The new state of the FPGA LED.
 */
int32_t ToggleRIO_FPGA_LED()
{
	int32_t ledState = !GetRIO_FPGA_LED();
	SetRIO_FPGA_LED(ledState);
	return ledState;
}