/**
 * @file fifo_dev.c
 * @brief Operate the hardware fifo with Linux application
 * @details Call fifo_dev_init() paired with fifo_dev_deinit() as their names imply, fifo_dev_write() can be executed several times to operate the hardware fifo between fifo_dev_init() and fifo_dev_deinit()
 * @mainpage github.com/NanjingForestryUniversity
 * @author miaow
 * @email 3703781@qq.com
 * @version 1.0
 * @date 2022/06/09
 */

#include <fifo_dev.h>
#include <pthread.h>
#include <unistd.h>
#include <common.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>

#define FIFO_CMD_FUNCTION_CLEAR 1
#define FIFO_CMD_FUNCTION_PADDING 2


static int fifo_dev_fd = -1;
static char perror_buffer[128];

/**
 * @brief Initialize the hardware fifo
 * @note This function just open the file descriptor of the hardware fifo
 * @return 0 - success, other - error
 */
int fifo_dev_init()
{
    fifo_dev_fd = open(FIFO_DEV_PATH, O_RDWR);
    ON_ERROR_RET(fifo_dev_fd, "", "", -1);
    return 0;
}

/**
 * @brief Set value to put of a frame.
 * @param valve_data An array 32bytes * 600rows.
 * @return 0 - success, other - error
 */
int fifo_dev_write_frame(void *valve_data)
{
    ssize_t size = write(fifo_dev_fd, valve_data, 32 * 600);
    int res = -(size < 32 * 600);
    ON_ERROR_RET(res, "size=", "", -1);

    return 0;
}

/**
 * @brief Set value to put of a row.
 * @param valve_data An array 32bytes.
 * @return 0 - success, other - error
 */
int fifo_dev_write_row(void *valve_data)
{
    ssize_t size = write(fifo_dev_fd, valve_data, 32);
    int res = -(size < 32);
    ON_ERROR_RET(res, "size=", "", -1);
    return 0;
}

/**
 * @brief Flush and clear the hardware fifo.
 * @return 0 - success, other - error
 */
int fifo_dev_clear()
{
    int res = ioctl(fifo_dev_fd, _IOW('D', FIFO_CMD_FUNCTION_CLEAR, 0));
    
    ON_ERROR_RET(res, "", "", -1);
    return 0;
}


/**
 * @brief Write `count` zero-items to the haredware fifo, which acts as delay time.
 * @param count Count of zero-items to write.
 * @return 0 - success, other - error
 */
int fifo_dev_write_delay(uint32_t count)
{
    int res = ioctl(fifo_dev_fd, _IOW('D', FIFO_CMD_FUNCTION_CLEAR, 0), count);

    ON_ERROR_RET(res, "", "", -1);
    return 0;
}

/**
 * @brief Get the count of items in the hardware fifo.
 * @note An item from hardware fifo is of 256 bits in size, aka. 32 bytes, 8 integers
 * @return 0 - success, other - error
 */
int fifo_dev_get_count()
{
    uint32_t fifo_item_count;
    ssize_t size = read(fifo_dev_fd, &fifo_item_count, sizeof(fifo_item_count));

    if (size != sizeof(fifo_item_count))
        ON_ERROR(-1, "size=", "");
    
    return fifo_item_count;
}

/**
 * @brief Deinitialize the hardware fifo.
 * @note This function just close the file descriptor of the hardware fifo.
 * @return 0 - success, -1 - error
 */
int fifo_dev_deinit()
{
    int res = close(fifo_dev_fd);

    ON_ERROR_RET(res, "", "", -1);
    return 0;
}