/**
 * @file CanMessage.cpp
 * @brief CAN协议层实现
 */

#include "../../include/can/CanMessage.h"
#include <cstring>
#include <iomanip>
#include <sstream>

namespace usb2can {
namespace can {

CanConfig::CanConfig() 
    : bitrate(500000), mode(CanMode::Normal), filterId(0), filterMask(0xFFFFFFFF) {
}

CanMessage::CanMessage() 
    : id(0), dlc(0), extended(false), rtr(false), timestamp(0) {
    std::memset(data, 0, sizeof(data));
}

CanMessage::CanMessage(uint32_t id, const uint8_t* data, uint8_t dlc, bool extended, bool rtr)
    : id(id), dlc(dlc), extended(extended), rtr(rtr), timestamp(0) {
    if (data && dlc > 0) {
        std::memcpy(this->data, data, std::min(static_cast<size_t>(dlc), sizeof(this->data)));
    } else {
        std::memset(this->data, 0, sizeof(this->data));
    }
}

CanMessage::CanMessage(const CanMessage& other) {
    id = other.id;
    dlc = other.dlc;
    extended = other.extended;
    rtr = other.rtr;
    timestamp = other.timestamp;
    std::memcpy(data, other.data, sizeof(data));
}

CanMessage& CanMessage::operator=(const CanMessage& other) {
    if (this != &other) {
        id = other.id;
        dlc = other.dlc;
        extended = other.extended;
        rtr = other.rtr;
        timestamp = other.timestamp;
        std::memcpy(data, other.data, sizeof(data));
    }
    return *this;
}

bool CanMessage::operator==(const CanMessage& other) const {
    if (id != other.id || dlc != other.dlc || extended != other.extended || rtr != other.rtr) {
        return false;
    }
    
    return std::memcmp(data, other.data, sizeof(data)) == 0;
}

std::string CanMessage::toString() const {
    std::stringstream ss;
    
    ss << "ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << id
       << " DLC: " << std::dec << static_cast<int>(dlc)
       << " [";
    
    for (int i = 0; i < dlc; i++) {
        ss << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(data[i]);
        if (i < dlc - 1) {
            ss << " ";
        }
    }
    
    ss << "]";
    
    if (extended) {
        ss << " Extended";
    }
    
    if (rtr) {
        ss << " RTR";
    }
    
    return ss.str();
}

CanFdConfig::CanFdConfig() 
    : bitrate(500000), dataBitrate(2000000), mode(CanMode::Normal), 
      filterId(0), filterMask(0xFFFFFFFF), enableFd(true), enableBrs(true) {
}

CanFdMessage::CanFdMessage() 
    : id(0), dlc(0), extended(false), rtr(false), fd(false), brs(false), esi(false), timestamp(0) {
    std::memset(data, 0, sizeof(data));
}

CanFdMessage::CanFdMessage(uint32_t id, const uint8_t* data, uint8_t dlc, 
                           bool extended, bool rtr, bool fd, bool brs, bool esi)
    : id(id), dlc(dlc), extended(extended), rtr(rtr), fd(fd), brs(brs), esi(esi), timestamp(0) {
    if (data && dlc > 0) {
        std::memcpy(this->data, data, std::min(static_cast<size_t>(dlc), sizeof(this->data)));
    } else {
        std::memset(this->data, 0, sizeof(this->data));
    }
}

CanFdMessage::CanFdMessage(const CanFdMessage& other) {
    id = other.id;
    dlc = other.dlc;
    extended = other.extended;
    rtr = other.rtr;
    fd = other.fd;
    brs = other.brs;
    esi = other.esi;
    timestamp = other.timestamp;
    std::memcpy(data, other.data, sizeof(data));
}

CanFdMessage& CanFdMessage::operator=(const CanFdMessage& other) {
    if (this != &other) {
        id = other.id;
        dlc = other.dlc;
        extended = other.extended;
        rtr = other.rtr;
        fd = other.fd;
        brs = other.brs;
        esi = other.esi;
        timestamp = other.timestamp;
        std::memcpy(data, other.data, sizeof(data));
    }
    return *this;
}

bool CanFdMessage::operator==(const CanFdMessage& other) const {
    if (id != other.id || dlc != other.dlc || extended != other.extended || 
        rtr != other.rtr || fd != other.fd || brs != other.brs || esi != other.esi) {
        return false;
    }
    
    return std::memcmp(data, other.data, sizeof(data)) == 0;
}

std::string CanFdMessage::toString() const {
    std::stringstream ss;
    
    ss << "ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << id
       << " DLC: " << std::dec << static_cast<int>(dlc)
       << " [";
    
    for (int i = 0; i < dlc; i++) {
        ss << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(data[i]);
        if (i < dlc - 1) {
            ss << " ";
        }
    }
    
    ss << "]";
    
    if (extended) {
        ss << " Extended";
    }
    
    if (rtr) {
        ss << " RTR";
    }
    
    if (fd) {
        ss << " FD";
    }
    
    if (brs) {
        ss << " BRS";
    }
    
    if (esi) {
        ss << " ESI";
    }
    
    return ss.str();
}

CanStatus::CanStatus() 
    : busOff(false), errorPassive(false), errorWarning(false), 
      rxErrorCounter(0), txErrorCounter(0) {
}

} // namespace can
} // namespace usb2can