#!/usr/bin/env python
# encoding: utf-8

'''
Copyright Jonathan Challinger, 2021
Copyright Siddharth Bharat Purohit, CubePilot Pty. Ltd. 2021
Released under GNU GPL version 3 or later
'''
import sys
import os
import errno
import em
import math
import copy
sys.path.insert(0, os.path.join(
    os.path.dirname(os.path.realpath(__file__)), "../pydronecan/"))
import dronecan

class bcolors:
    HEADER = '\033[95m'
    OKBLUE = '\033[94m'
    OKCYAN = '\033[96m'
    OKGREEN = '\033[92m'
    WARNING = '\033[93m'
    FAIL = '\033[91m'
    ENDC = '\033[0m'
    BOLD = '\033[1m'
    UNDERLINE = '\033[4m'

def get_empy_env_request(msg):
    assert msg.kind == msg.KIND_SERVICE
    msg_underscored_name = msg.full_name.replace('.','_')+'Request'
    msg_resp_underscored_name = msg.full_name.replace('.','_')+'Response'
    msg_define_name = msg.full_name.replace('.','_')+'_REQUEST'
    return {
        'msg': msg,
        'msg_underscored_name': msg_underscored_name,
        'msg_header_file_name': msg_header_name_request(msg),
        'msg_c_type': underscored_name_to_ctype(msg_underscored_name),
        'msg_cpp_type': underscored_name_to_cpptype(msg_underscored_name),
        'msg_union': msg.request_union,
        'msg_fields': msg.request_fields,
        'msg_constants': msg.request_constants,
        'msg_max_bitlen': msg.get_max_bitlen_request(),
        'msg_dt_sig': msg.get_data_type_signature(),
        'msg_default_dtid': msg.default_dtid,
        'msg_kind': 'request',
        'msg_resp_underscored_name': msg_resp_underscored_name,
        'msg_resp_header_file_name': msg_header_name_response(msg),
        'msg_define_name': msg_define_name
    }

def get_empy_env_response(msg):
    assert msg.kind == msg.KIND_SERVICE
    msg_underscored_name = msg.full_name.replace('.','_')+'Response'
    msg_define_name = msg.full_name.replace('.','_')+'_RESPONSE'
    return {
        'msg': msg,
        'msg_underscored_name': msg_underscored_name,
        'msg_header_file_name': msg_header_name_response(msg),
        'msg_c_type': underscored_name_to_ctype(msg_underscored_name),
        'msg_cpp_type': underscored_name_to_cpptype(msg_underscored_name),
        'msg_union': msg.response_union,
        'msg_fields': msg.response_fields,
        'msg_constants': msg.response_constants,
        'msg_max_bitlen': msg.get_max_bitlen_response(),
        'msg_dt_sig': msg.get_data_type_signature(),
        'msg_default_dtid': msg.default_dtid,
        'msg_kind': 'response',
        'msg_define_name': msg_define_name
    }

def get_empy_env_broadcast(msg):
    assert msg.kind == msg.KIND_MESSAGE
    msg_underscored_name = msg.full_name.replace('.','_')
    return {
        'msg': msg,
        'msg_underscored_name': msg_underscored_name,
        'msg_header_file_name': msg_header_name(msg),
        'msg_c_type': underscored_name_to_ctype(msg_underscored_name),
        'msg_cpp_type': underscored_name_to_cpptype(msg_underscored_name),
        'msg_union': msg.union,
        'msg_fields': msg.fields,
        'msg_constants': msg.constants,
        'msg_max_bitlen': msg.get_max_bitlen(),
        'msg_dt_sig': msg.get_data_type_signature(),
        'msg_default_dtid': msg.default_dtid,
        'msg_kind': 'broadcast',
        'msg_define_name': msg_underscored_name
    }

def dronecan_type_is_signed(dronecan_type):
    assert dronecan_type.category == dronecan_type.CATEGORY_PRIMITIVE
    if dronecan_type.kind == dronecan_type.KIND_BOOLEAN:
        return False
    elif dronecan_type.kind == dronecan_type.KIND_UNSIGNED_INT:
        return False
    elif dronecan_type.kind == dronecan_type.KIND_SIGNED_INT:
        return True
    elif dronecan_type.kind == dronecan_type.KIND_FLOAT:
        return True

def union_msg_tag_bitlen_from_num_fields(num_fields):
    return int(math.ceil(math.log(num_fields,2)))

def union_msg_tag_uint_type_from_num_fields(num_fields):
    return c_uint_type_from_bitlen(union_msg_tag_bitlen_from_num_fields(num_fields))

def array_len_field_bitlen(array_type):
    assert array_type.category == array_type.CATEGORY_ARRAY
    return int(math.ceil(math.log(array_type.max_size+1,2)))

def c_int_type_bitlen(bitlen):
    for ret in (8, 16, 32, 64):
        if bitlen <= ret:
            return ret

def c_uint_type_from_bitlen(bitlen):
    return 'uint%u_t' % (c_int_type_bitlen(bitlen),)

def c_int_type_from_bitlen(bitlen):
    return 'int%u_t' % (c_int_type_bitlen(bitlen),)

def c_array_len_type(field):
    return 'uint%u_t' % (c_int_type_bitlen(array_len_field_bitlen(field.type)),)

def underscored_name_to_ctype(name):
    return 'struct %s' % (name)

def underscored_name_to_cpptype(name):
    return '%s' % (name)

def dronecan_type_to_ctype(dronecan_type):
    assert dronecan_type.category != dronecan_type.CATEGORY_VOID
    if dronecan_type.category == dronecan_type.CATEGORY_COMPOUND:
        assert dronecan_type.kind == dronecan_type.KIND_MESSAGE
        return 'struct %s' % (underscored_name(dronecan_type))
    elif dronecan_type.category == dronecan_type.CATEGORY_PRIMITIVE:
        if dronecan_type.kind == dronecan_type.KIND_BOOLEAN:
            return 'bool'
        elif dronecan_type.kind == dronecan_type.KIND_UNSIGNED_INT:
            return c_uint_type_from_bitlen(dronecan_type.bitlen)
        elif dronecan_type.kind == dronecan_type.KIND_SIGNED_INT:
            return c_int_type_from_bitlen(dronecan_type.bitlen)
        elif dronecan_type.kind == dronecan_type.KIND_FLOAT:
            return 'float' if dronecan_type.bitlen <= 32 else 'double'

def field_cdef(field):
    assert field.type.category != field.type.CATEGORY_VOID
    if field.type.category == field.type.CATEGORY_ARRAY:
        if field.type.mode == field.type.MODE_STATIC:
            return '%s %s[%u]' % (dronecan_type_to_ctype(field.type.value_type), field.name, field.type.max_size)
        else:
            return 'struct { uint%u_t len; %s data[%u]; }%s' % (c_int_type_bitlen(array_len_field_bitlen(field.type)), dronecan_type_to_ctype(field.type.value_type), field.type.max_size, field.name)
    else:
        return '%s %s' % (dronecan_type_to_ctype(field.type), field.name)

def field_get_data(field):
    assert field.type.category == field.type.CATEGORY_ARRAY
    if field.type.mode == field.type.MODE_DYNAMIC:
        return '%s.data' % field.name
    else:
        return '%s' % field.name

def field_flat(fields):
    ret_str = ''
    for field in fields:
        if field.type.category == field.type.CATEGORY_VOID:
            continue
        if field.type.category == field.type.CATEGORY_ARRAY:
            if field.type.mode == field.type.MODE_STATIC:
                ret_str += ', ' + field.name
            else:
                ret_str += ', ' + '%s_len, %s' % (field.name, field.name)
        else:
            ret_str += ', ' + field.name
    return ret_str

def indent(string, n):
    if string.strip():
        string = '    '*n + string
        string.replace('\n', '\n' + '    '*n)
    return string

def msg_header_name_request(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    assert obj.category == obj.CATEGORY_COMPOUND and obj.kind == obj.KIND_SERVICE
    return '%s_req.h' % (obj.full_name,)

def msg_header_name_response(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    assert obj.category == obj.CATEGORY_COMPOUND and obj.kind == obj.KIND_SERVICE
    return '%s_res.h' % (obj.full_name,)

def msg_header_name(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return '%s.h' % (obj.full_name,)

def msg_c_file_name_request(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    assert obj.category == obj.CATEGORY_COMPOUND and obj.kind == obj.KIND_SERVICE
    return '%s_req.c' % (obj.full_name,)

def msg_c_file_name_response(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    assert obj.category == obj.CATEGORY_COMPOUND and obj.kind == obj.KIND_SERVICE
    return '%s_res.c' % (obj.full_name,)

def msg_c_file_name(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return '%s.c' % (obj.full_name,)

def msg_test_file_name(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s.cpp' % (obj.full_name,)

def msg_test_file_name_request(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s_request.cpp' % (obj.full_name,)

def msg_test_file_name_response(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s_response.cpp' % (obj.full_name,)

def msg_test_makefile_name(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s.mk' % (obj.full_name,)

def msg_test_makefile_name_request(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s_request.mk' % (obj.full_name,)

def msg_test_makefile_name_response(obj):
    if isinstance(obj, dronecan.dsdl.Field):
        obj = obj.type
    return 'test_%s_response.mk' % (obj.full_name,)

def get_canard_src():
    return os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'libcanard/canard.c'))

def get_canard_inc():
    return os.path.dirname(get_canard_src())

def underscored_name(obj):
    return obj.full_name.replace('.','_')

def rel_path(obj):
    return os.path.join(*obj.full_name.split('.')[:-1])

def short_name(obj):
    return obj.full_name.split('.')[-1]

# https://stackoverflow.com/questions/600268/mkdir-p-functionality-in-python
def mkdir_p(path):
    try:
        os.makedirs(path)
    except OSError as exc:  # Python >2.5
        if exc.errno == errno.EEXIST and os.path.isdir(path):
            pass
        else:
            raise