/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_RCVR)

#include <pios_rcvr_priv.h>

enum pios_rcvr_dev_magic {
  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};

struct pios_rcvr_dev {
  enum pios_rcvr_dev_magic        magic;
  uint32_t                        lower_id;
  const struct pios_rcvr_driver * driver;
};

static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
{
  return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
}

#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
  struct pios_rcvr_dev * rcvr_dev;

  rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
  if (!rcvr_dev) return (NULL);

  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
  return(rcvr_dev);
}
#else
static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
static uint8_t pios_rcvr_num_devs;
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
  struct pios_rcvr_dev * rcvr_dev;

  if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
    return (NULL);
  }

  rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;

  return (rcvr_dev);
}
#endif

/**
  * Initialises RCVR layer
  * \param[out] handle
  * \param[in] driver
  * \param[in] id
  * \return < 0 if initialisation failed
  */
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, uint32_t lower_id)
{
  PIOS_DEBUG_Assert(rcvr_id);
  PIOS_DEBUG_Assert(driver);

  struct pios_rcvr_dev * rcvr_dev;

  rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
  if (!rcvr_dev) goto out_fail;

  rcvr_dev->driver   = driver;
  rcvr_dev->lower_id = lower_id;

  *rcvr_id = (uint32_t)rcvr_dev;
  return(0);

out_fail:
  return(-1);
}

/**
 * @brief Reads an input channel from the appropriate driver
 * @param[in] rcvr_id driver to read from
 * @param[in] channel channel to read
 * @returns Unitless input value
 *  @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
 *  @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
 *  @retval PIOS_RCVR_NODRIVER driver was not initialized
 */
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
  if (rcvr_id == 0) 
    return PIOS_RCVR_NODRIVER;

  struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;

  if (!PIOS_RCVR_validate(rcvr_dev)) {
    /* Undefined RCVR port for this board (see pios_board.c) */
    PIOS_Assert(0);
  }

  PIOS_DEBUG_Assert(rcvr_dev->driver->read);

  return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}

#endif

/**
 * @}
 * @}
 */