/*! @file ControlParameterInterface.h
 *  @brief Types to allow remote access of control parameters, for use with
 * LCM/Shared memory
 *
 * There are response/request messages.  The robot receives request messages and
 * responds with response messages The request messages either request setting a
 * parameter or getting a parameter
 */

#ifndef PROJECT_CONTROLPARAMETERINTERFACE_H
#define PROJECT_CONTROLPARAMETERINTERFACE_H

#include <map>
#include "ControlParameters.h"

/*!
 * Type of message to a control parameter collection
 */
enum class ControlParameterRequestKind {
  GET_ROBOT_PARAM_BY_NAME,
  SET_ROBOT_PARAM_BY_NAME,
  GET_USER_PARAM_BY_NAME,
  SET_USER_PARAM_BY_NAME
};

std::string controlParameterRequestKindToString(
    ControlParameterRequestKind request);

/*!
 * Data sent to a control parameter collection to request a get/set of a value
 */
struct ControlParameterRequest {
  char name[CONTROL_PARAMETER_MAXIMUM_NAME_LENGTH] =
      "";  // name of the parameter to set/get
  u64 requestNumber = UINT64_MAX;
  ControlParameterValue value;
  ControlParameterValueKind parameterKind;
  ControlParameterRequestKind requestKind;

  /*!
   * Convert to human-readable string
   * @return : description of the request
   */
  std::string toString() {
    std::string result = "Request(" + std::to_string(requestNumber) + ") " +
                         controlParameterRequestKindToString(requestKind) +
                         " " +
                         controlParameterValueKindToString(parameterKind) +
                         " " + std::string(name) + " ";
    switch (requestKind) {
      case ControlParameterRequestKind::GET_USER_PARAM_BY_NAME:
        result += "user is: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::SET_USER_PARAM_BY_NAME:
        result += "user to: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::GET_ROBOT_PARAM_BY_NAME:
        result += "robot is: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::SET_ROBOT_PARAM_BY_NAME:
        result += "robot to: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      default:
        return result + " unknown request type!";
    }
  }
};

/*!
 * Data sent from a control parameter collection in response to a request.
 */
struct ControlParameterResponse {
  char name[CONTROL_PARAMETER_MAXIMUM_NAME_LENGTH] = "";
  u64 requestNumber = UINT64_MAX;
  u64 nParameters = 0;
  ControlParameterValue value;
  ControlParameterValueKind parameterKind;
  ControlParameterRequestKind requestKind;

  /*!
   * Check if a response is a valid response to a given request
   * @param request : the request
   * @return is the response from the given request?
   */
  bool isResponseTo(ControlParameterRequest& request) {
    return requestNumber == request.requestNumber &&
           requestKind == request.requestKind &&
           std::string(name) == std::string(request.name);
  }

  /*!
   * Convert to human-readable string
   * @return : description of the response
   */
  std::string toString() {
    std::string result = "Response(" + std::to_string(requestNumber) + ") " +
                         controlParameterRequestKindToString(requestKind) +
                         " " +
                         controlParameterValueKindToString(parameterKind) +
                         " " + std::string(name) + " ";

    switch (requestKind) {
      case ControlParameterRequestKind::SET_USER_PARAM_BY_NAME:
        result += "user to: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::GET_USER_PARAM_BY_NAME:
        result += "user is: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::SET_ROBOT_PARAM_BY_NAME:
        result += "robot to: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      case ControlParameterRequestKind::GET_ROBOT_PARAM_BY_NAME:
        result += "robot is: ";
        result += controlParameterValueToString(value, parameterKind);
        return result;
      default:
        return result + " unknown request type!";
    }
  }
};

#endif  // PROJECT_CONTROLPARAMETERINTERFACE_H