/**
 * @ingroup can
 * @defgroup can_frame Frame pooling
 * @brief RX frame pooling
 * @date Oct 29, 2015
 * @author jjacobs
 * @copyright 2015 Dual Inventive Technology Centre B.V.
 *
 * CAN frame pooling
 * @{
 */
#ifndef LIBDI_INCLUDE_DI_CAN_FRAME_H_
#define LIBDI_INCLUDE_DI_CAN_FRAME_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stddef.h>
#include <stdint.h>
#include <di/array.h>
#include <di/semaphore.h>
#include <di/can/defines.h>

struct di_can_ctx;

/** Declare di_can_msg array */
#define DI_CAN_FRAME_RX_DECL_ARRAY(name, elements) \
	static struct di_can_frame_rx name[elements]

/** CAN-bus frame */
struct di_can_frame_tx {
	size_t size;
	uint32_t canid;
	uint8_t *buf;
	const struct di_can_ctx *ctx; /** DI CAN context */
};

/** CAN-bus RX frame */
struct di_can_frame_rx {
	uint64_t timeout; /**< Timeout for GC in milliseconds since di_time_get_uptime() */
	uint16_t flags;
	size_t size;
	uint32_t canid;
	uint8_t buf[8];
	const struct di_can_ctx *ctx; /**< DI CAN context */
};

/**
 * CAN frame subsystem
 */
struct di_can_frame {
	di_bsem_t lock;
	struct di_array pool;
	uint32_t timeout;    /**< Garbage collection timeout of frames (milliseconds) */
};

#include <di/can.h>

/**
 * Initialize can frame subsystem
 * @param ctx  CAN context
 * @param list List of can rx frames
 * @param size Elements of can rx frames in list
 * @note When the subsystem is already initialized next function calls will be ignored
 */
void di_can_frame_init(struct di_can_ctx *ctx, struct di_can_frame_rx *list, size_t size);

/**
 * Get unused can frame
 */
struct di_can_frame_rx *di_can_frame_get_unused(struct di_can_ctx *ctx);

/**
 * Get used + ready can frame for reassembly of message
 */
struct di_can_frame_rx *di_can_frame_get_ready(struct di_can_ctx *ctx);

/**
 * Return can frame to notify it is ready
 */
void di_can_frame_return_ready(struct di_can_frame_rx *frame);

/**
 * Destroy and return the can frame so it is free
 */
void di_can_frame_return_unused(struct di_can_frame_rx *frame);

/**
 * Garbage collect where di_can_frame_rx timeouts are exceeded
 *  This will use the di_time_get_uptime to test against
 *  the message timeout
 * * When di_can_frame_rx.timeout is set to DI_CAN_TIMEOUT_GC_SKIP it is not garbage collected
 * * When di_can_frame_rx.timeout is set to DI_CAN_TIMEOUT_GC_IMMEDIATE it is immediate collected
 * @note This should be run with ~50ms interval from thread with all being freed up
 */
void di_can_frame_gc(struct di_can_ctx *ctx, enum di_can_gc gc);

/**
 * Get application specific private_data set with
 *  di_can_set_private_data
 */
void *di_can_frame_rx_get_private_data(const struct di_can_frame_rx *frame);

void *di_can_frame_tx_get_private_data(const struct di_can_frame_tx *frame);

#ifdef __cplusplus
}
#endif

/** @} */

#endif /* LIBDI_INCLUDE_DI_CAN_FRAME_H_ */