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/**
 * @file ParamManager.cpp
 *
 * Implements basic functionality of UAVCAN parameter management class
 *
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#include "ParamManager.hpp"
#include <px4_platform_common/defines.h>

bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strcmp(param_name, param.uavcan_name) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			/// TODO: What will be our approach for handling other UAVCAN data-value types?
			switch (param_type(param_handle)) {
			case PARAM_TYPE_INT32: {
					int32_t out_val {};
					param_get(param_handle, &out_val);

					if (uavcan_register_Value_1_0_is_natural16_(&value)) { //FIXME param rewrite
						value.natural16.value.elements[0] = (uint16_t)out_val;
						uavcan_register_Value_1_0_select_natural16_(&value);

					} else {
						value.integer32.value.elements[0] = out_val;
						uavcan_register_Value_1_0_select_integer32_(&value);
					}

					break;
				}

			case PARAM_TYPE_FLOAT: {
					float out_val {};
					param_get(param_handle, &out_val);
					value.real32.value.elements[0] = out_val;
					uavcan_register_Value_1_0_select_real32_(&value);
					break;
				}
			}

			return true;
		}
	}

	return false;
}

bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			/// TODO: What will be our approach for handling other UAVCAN data-value types?
			switch (param_type(param_handle)) {
			case PARAM_TYPE_INT32: {
					int32_t out_val {};
					param_get(param_handle, &out_val);

					if (uavcan_register_Value_1_0_is_natural16_(&value)) { //FIXME param rewrite
						value.natural16.value.elements[0] = (uint16_t)out_val;
						uavcan_register_Value_1_0_select_natural16_(&value);

					} else {
						value.integer32.value.elements[0] = out_val;
						uavcan_register_Value_1_0_select_integer32_(&value);
					}

					break;
				}

			case PARAM_TYPE_FLOAT: {
					float out_val {};
					param_get(param_handle, &out_val);
					value.real32.value.elements[0] = out_val;
					uavcan_register_Value_1_0_select_real32_(&value);
					break;
				}
			}

			return true;
		}
	}

	return false;
}

bool UavcanParamManager::SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value)
{
	for (auto &param : _uavcan_params) {
		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
			param_t param_handle = param_find(param.px4_name);

			if (param_handle == PARAM_INVALID) {
				return false;
			}

			switch (param_type(param_handle)) {
			case PARAM_TYPE_INT32: {
					int32_t in_val = value.integer32.value.elements[0];
					param_set(param_handle, &in_val);
					break;
				}

			case PARAM_TYPE_FLOAT: {
					float in_val = value.natural32.value.elements[0];
					param_set(param_handle, &in_val);
					break;
				}
			}

			return true;
		}
	}

	return false;
}
