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#include "tool.h"
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#include "query.h"
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#include "tooltron_mb.h"
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#include <modbus.h>
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#include <stdio.h>
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#include <errno.h>
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modbus_t *ctx;
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int tool_init_mb(const char *device) {
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  struct timeval timeout;
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  ctx = modbus_new_rtu(device, MB_BAUD, 'N', 8, 1);
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  if (ctx == NULL) {
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    fprintf(stderr, "modbus_new_rtu: %s\n", modbus_strerror(errno));
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    return 1;
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  }
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  if (modbus_connect(ctx) == -1) {
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    fprintf(stderr, "modbus_connect: %s\n", modbus_strerror(errno));
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    modbus_free(ctx);
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    return 1;
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  }
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  modbus_get_response_timeout(ctx, &timeout);
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  printf("Response timeout is %lus %luus\n", timeout.tv_sec, timeout.tv_usec);
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  return 0;
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}
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void tool_close_mb() {
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  modbus_close(ctx);
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  modbus_free(ctx);
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}
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static void tool_write_coil(int addr, int bit) {
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  if (modbus_write_bit(ctx, addr, bit) == -1) {
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    fprintf(stderr, "modbus_write_bit: %s\n", modbus_strerror(errno));
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  }
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}
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static void tool_init(struct tool_t *tool) {
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  // TODO write current limit values
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  tool_write_coil(MB_COIL_INIT, 1);
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  tool->state = TS_OFF;
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}
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static void tool_read_user(struct tool_t *tool) {
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  unsigned short serno[2];
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  if (modbus_read_input_registers(ctx, MB_INP_SERNOL, 2, serno) == -1) {
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    fprintf(stderr, "modbus_read_registers: %s\n", modbus_strerror(errno));
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    tool->user = 0;
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  } else {
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    tool->user = MODBUS_GET_INT32_FROM_INT16(serno, 0);
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  }
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}
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static void tool_grant_access(struct tool_t *tool) {
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  printf("Granting access to %08x on %s (%d)\n", tool->user, tool->name,
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      tool->address);
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  tool_write_coil(MB_COIL_EN, 1);
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  tool->state = TS_ON;
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}
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static void tool_deny_access(struct tool_t *tool) {
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  printf("Denying access to %08x on %s (%d)\n", tool->user, tool->name,
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      tool->address);
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  tool_write_coil(MB_COIL_EN, 0);
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  tool->state = TS_OFF;
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}
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void tool_request_disable(struct tool_t *tool) {
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  printf("Requesting disable on %s (%d)\n", tool->name, tool->address);
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  tool_write_coil(MB_COIL_REQ_DIS, 1);
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  tool->state = TS_REQ_DIS;
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}
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void tool_poll(struct tool_t *tool) {
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  unsigned char status[N_COILS];
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  if (modbus_set_slave(ctx, tool->address) == -1) {
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    fprintf(stderr, "modbus_set_slave: %s\n", modbus_strerror(errno));
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  }
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  /* If we can't read from the tool, we only want this error message to print
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   * once, thus tool->connected */
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  if (modbus_read_bits(ctx, 0, N_COILS, status) == -1) {
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    if (tool->connected) {
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      fprintf(stderr, "Cannot connect to %s (%d): %s\n", tool->name,
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          tool->address, modbus_strerror(errno));
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      tool->connected = 0;
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    }
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    return;
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  } else if (!tool->connected) {
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    fprintf(stderr, "Reconnected to %s (%d)\n", tool->name, tool->address);
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    tool->connected = 1;
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  }
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  /*uint16_t current;
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  if (modbus_read_input_registers(ctx, MB_INP_CURRENT, 1, &current) == -1) {
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    fprintf(stderr, "modbus_read_registers: %s\n", modbus_strerror(errno));
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  } else {
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    printf("Current: %d\n", current);
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  }*/
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  /*printf("new:%d en:%d req_dis:%d init:%d\n", status[MB_COIL_NEW],
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      status[MB_COIL_EN], status[MB_COIL_REQ_DIS], status[MB_COIL_INIT]);*/
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  if (!status[MB_COIL_INIT]) {
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    tool->state = TS_INIT;
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  }
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  switch (tool->state) {
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    case TS_INIT:
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      tool_init(tool);
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      break;
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    case TS_OFF:
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      if (status[MB_COIL_NEW]) {
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        tool_read_user(tool);
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        if (query_user_permission(tool->address, tool->user)) {
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          tool_grant_access(tool);
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        } else {
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          tool_deny_access(tool);
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        }
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      }
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      break;
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    case TS_ON:
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      if (!status[MB_COIL_EN]) {
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        printf("Tool %s (%d) is off\n", tool->name, tool->address);
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        tool->state = TS_OFF;
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      }
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      break;
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    case TS_REQ_DIS:
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      if (!status[MB_COIL_EN]) {
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        printf("Tool %s (%d) is off after requested disable\n", tool->name,
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            tool->address);
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        tool->state = TS_OFF;
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      }
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      break;
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  }
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}