#include <SPI.h>;
#include <mcp2515.h>;

const byte SoftwareVersionHigh = 1;
const byte SoftwareVersionLow = 0;
const byte HardwareVersionHigh = 2;
const byte HardwareVersionLow = 0;
const uint32_t HELP_PACKAGE_CAN_ID = 0xFFFF;
const uint32_t SWITCH_TRIGGERED_CAN_ID = 0x050;
const uint32_t TRIGGER_SWITCH_CAN_ID = 0x055;
const uint32_t  HELP_PACKAGE_ID = 0xFFFF;

struct can_frame _frame;
MCP2515 mcp2515_0(PIN_PB1);
MCP2515 mcp2515_1(PIN_PB0);
MCP2515 mcp2515_2(PIN_PA3);

typedef struct
{
  uint32_t sourceDevId;
  byte sourceMeyPinId;
  byte targetMeyPinId;
  bool trigger;

  void InitSimple(uint32_t sourceDevId, byte sourceMeyPinId, byte targetMeyPinId)
  {
    this->sourceDevId = sourceDevId;
    this->sourceMeyPinId = sourceMeyPinId;
    this->targetMeyPinId = targetMeyPinId;
    trigger = false;
  }

  void InitTrigger(uint32_t sourceDevId, byte sourceMeyPinId, byte targetMeyPinId)
  {
    this->sourceDevId = sourceDevId;
    this->sourceMeyPinId = sourceMeyPinId;
    this->targetMeyPinId = targetMeyPinId;
    trigger = true;
  }
} Rule;

typedef struct
{
  int pin_id;
  bool pin_state;
  bool is_input;
  byte meyPinId;

  PinState() {}
  void Init(int pin_id, byte meyPinId)
  {
    this->pin_id = pin_id;
    this->pin_state = true;
    this->is_input = true;
    this->meyPinId = meyPinId;
  }
} PinState;


int PinCount = 8;
PinState MeyPins[8];

bool flag = false;
byte DeviceId[1];

Rule Rules[4];
int RulesCount = 4;

void setup() {
  SPI.begin();

  Rules[0] = Rule();
  Rules[0].InitSimple(0x051F, 1, 3);
  Rules[1] = Rule();
  Rules[1].InitSimple(0x051F, 2, 1);
  Rules[2] = Rule();
  Rules[2].InitSimple(0x0388, 1, 3);
  Rules[3] = Rule();
  Rules[3].InitSimple(0x0388, 2, 4);

  MeyPins[0] = PinState();
  MeyPins[0].Init(PIN_PC1, (byte) 1);

  MeyPins[1] = PinState();
  MeyPins[1].Init(PIN_PC2, (byte) 2);

  MeyPins[2] = PinState();
  MeyPins[2].Init(PIN_PC3, (byte) 3);

  MeyPins[3] = PinState();
  MeyPins[3].Init(PIN_PC4, (byte) 4);

  MeyPins[4] = PinState();
  MeyPins[4].Init(PIN_PC5, (byte) 5);

  MeyPins[5] = PinState();
  MeyPins[5].Init(PIN_PC6, (byte) 6);

  MeyPins[6] = PinState();
  MeyPins[6].Init(PIN_PC7, (byte) 7);


  _PROTECTED_WRITE(CLKCTRL.MCLKCTRLA,  CLKCTRL.MCLKCTRLA | 1 << 7);

  mcp2515_0.reset();
  mcp2515_0.setBitrate(CAN_500KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
  mcp2515_0.setNormalMode();

  mcp2515_1.reset();
  mcp2515_1.setBitrate(CAN_500KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
  mcp2515_1.setNormalMode();

  mcp2515_2.reset();
  mcp2515_2.setBitrate(CAN_500KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
  mcp2515_2.setNormalMode();

  for (int i = 0; i <= PinCount - 1; i++)
  {
    pinMode(MeyPins[i].pin_id, OUTPUT);
  }


}

int i = 0;
bool debugState = false;

void loop() {

  if (mcp2515_0.readMessage(&_frame) == MCP2515::ERROR_OK)
  {
    HandleFrame();
    mcp2515_1.sendMessage(MCP2515::TXB1, &_frame);
    mcp2515_2.sendMessage(MCP2515::TXB1, &_frame);
  }
  if (mcp2515_1.readMessage(&_frame) == MCP2515::ERROR_OK)
  {
    HandleFrame();
    mcp2515_0.sendMessage(MCP2515::TXB1, &_frame);
    mcp2515_2.sendMessage(MCP2515::TXB1, &_frame);
  }
  if (mcp2515_2.readMessage(&_frame) == MCP2515::ERROR_OK)
  {
    HandleFrame();
    mcp2515_0.sendMessage(MCP2515::TXB1, &_frame);
    mcp2515_1.sendMessage(MCP2515::TXB1, &_frame);
  }
  delay(20);
}

void HandleFrame()
{

  if (GetPackageType(_frame.can_id) == SWITCH_TRIGGERED_CAN_ID)
  {
    for (int i = 0; i <= RulesCount - 1; i++)
    {
      if (Rules[i].sourceDevId == GetDeviceId(_frame.can_id) && Rules[i].sourceMeyPinId == _frame.data[0] )
      {
        ProcessTriggerSwitchPackage(Rules[i].targetMeyPinId, _frame.data[1], Rules[i].trigger );
        return;
      }
    }
  }
}

void ProcessTriggerSwitchPackage(byte meyPinId, byte state, bool asTrigger)
{
  int pinState = state > 0;

  PinState *foundPinId = 0;
  for (int i = 0; i < PinCount; i++)
  {
    if (MeyPins[i].meyPinId == meyPinId)
    {
      foundPinId = &MeyPins[i];
      break;
    }
  }
  if (foundPinId == 0)return;

  if (asTrigger)
  {
    pinState = (foundPinId->pin_state ^ true) > 0;
  }

  digitalWrite(foundPinId->pin_id, pinState);
  foundPinId->pin_state = pinState;
}

byte CircularShift(byte b)
{
  return (b << 1) | (b >> 7 & 1);
}

uint32_t GetDeviceId(uint32_t canFrameId)
{
  return canFrameId & 0xFFFF;
}

uint32_t GetPackageType(uint32_t canFrameId)
{
  return (canFrameId / 0x10000) & 0xFFF;
}

uint32_t CreateCanId(uint32_t commandId)
{
  return ((commandId & 0xFFF) * 0x10000) | ( DeviceId[0] << 8) | (DeviceId[1]) | CAN_EFF_FLAG;
}


void SendSerialPackage()
{
  _frame.can_id = CreateCanId(HELP_PACKAGE_CAN_ID);
  _frame.can_dlc = 4;

  _frame.data[0] = SoftwareVersionHigh;
  _frame.data[1] = SoftwareVersionLow;
  _frame.data[2] = HardwareVersionHigh;
  _frame.data[3] = HardwareVersionLow;
  mcp2515_1.sendMessage(MCP2515::TXB1, &_frame);
}

void SendSwitchedTriggeredCanPackage(byte pinId, int state)
{
  _frame.can_id = CreateCanId(SWITCH_TRIGGERED_CAN_ID);
  _frame.can_dlc = 2;
  _frame.data[0] = pinId;
  _frame.data[1] = state;
  mcp2515_1.sendMessage(MCP2515::TXB1, &_frame);
}

void SendDoTriggerSwitchCanPackage(uint32_t targetCanId, byte pinId, byte state)
{
  _frame.can_id = CreateCanId(TRIGGER_SWITCH_CAN_ID);
  _frame.can_dlc = 4;
  _frame.data[0] = targetCanId & 0xFF;
  _frame.data[1] = (targetCanId & 0xFF00) >> 8;
  _frame.data[2] = pinId;
  _frame.data[3] = state;
  mcp2515_1.sendMessage(MCP2515::TXB1, &_frame);
}