<?php
require_once("./config.php");

class DNCM {
	private $fd = null;
	private $__CANtimeoutMs = 3000;

	function __construct($iface = "can0") {
		if ($iface == "")
			return;

		$this->fd = di_can_open($iface);
		if ($this->fd) {
			// Our own nodeid based on device:uid doesn't really matter for the switch
			//  but we need to set it so we won't have an 0x00000000 nodeid (unset)
			di_can_set_nodeid($this->fd, "12343456789012345678901234567890");
		}
	}

	function __destruct() {
		if ($this->fd) {
			di_can_close($this->fd);
			$this->fd = null;
		}
	}

	/**
	 * Create new can timeout
	 */
	private function canTimeoutNew() {
		return (microtime(true) * 1000) + $this->__CANtimeoutMs;
	}

	/**
	 * Check if CAN receive timeout is exceeded
	 * @return true when timeout is exceeded, false otherwise
	 */
	private function canTimeoutIsExceeded($t) {
		if ((microtime(true) * 1000) > $t)
			return true;
		return false;
	}

	/** Set CAN receive timeout */
	public function setCANRecvTimeout($timeout_ms) {
		$this->__CANtimeoutMs = $timeout_ms;
	}

	/**
	 * Force trigger a GPS sensor update
	 */
	public function can_raw_dncm_gps_sensor_trigger() {
		$req = [];
		$req['msgtype'] = DI_CAN_MSGTYPE_RAW;
		$req['ttype']   = DI_CAN_TRANSFERTYPE_REQUEST;
		$req['dtype']   = 0x405; // TODO macro
		$req['dst_id']  = DI_CAN_NODEID_BROADCAST;

		$rep = di_can_reqrep_with_retry($this->fd, $req, 2000, 3); // TODO wait max 500ms because of semihosting
		if ($rep)
			return true;
		return false;
	}

	/**
	 * Set GPS sensor update interval (wakeup time)
	 */
	public function can_raw_dncm_gps_sensor_set_update_interval($interval_sec) {
		$req = [];
		$req['msgtype'] = DI_CAN_MSGTYPE_RAW;
		$req['ttype']   = DI_CAN_TRANSFERTYPE_REQUEST;
		$req['dtype']   = 0x405; // TODO macro
		$req['dst_id']  = DI_CAN_NODEID_BROADCAST;
		$req['ptype']   = DI_CAN_PTYPE_U16;
		$req['msg']     = $interval_sec;

		$rep = di_can_reqrep_with_retry($this->fd, $req, 2000, 3); // TODO wait max 500ms because of semihosting
		if ($rep)
			return true;
		return false;
	}

	/**
	 * Set DNCM communication status sending
	 */
	public function can_raw_dncm_communication_status($on_change, $interval_sec) {
		$req = [];
		$req['msgtype'] = DI_CAN_MSGTYPE_RAW;
		$req['ttype']   = DI_CAN_TRANSFERTYPE_REQUEST;
		$req['dtype']   = 0x406; // TODO macro
		$req['dst_id']  = DI_CAN_NODEID_BROADCAST;
		$req['ptype']   = DI_CAN_PTYPE_STRUCT;
		$payload = "";
		if ($on_change)
			$payload = "\x01";
		else
			$payload = "\x00";
		$payload .= pack("n*", $interval_sec);
		$req['msg'] = $payload;

		$rep = di_can_reqrep_with_retry($this->fd, $req, 2000, 3); // TODO wait max 500ms because of semihosting
		if ($rep)
			return true;
		return false;
	}
};