#!/bin/bash
/**
 * @file flash_target.sh
 * @brief Flash firmware to target board
 */

set -e

# Script directory
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"

# Default values
TARGET=""
BUILD_TYPE="debug"
PROGRAMMER=""
INTERFACE=""

# Color codes
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m'

# Function to print usage
print_usage() {
    echo "Usage: $0 [OPTIONS]"
    echo ""
    echo "Options:"
    echo "  -t, --target <target>    Target board (required)"
    echo "  -b, --build-type <type>  Build type (default: debug)"
    echo "  -p, --programmer <prog>  Programmer type"
    echo "                           Available: stlink, jlink, openocd"
    echo "  -i, --interface <iface>  Debug interface"
    echo "                           Available: swd, jtag"
    echo "  -h, --help               Show this help"
    echo ""
}

# Parse arguments
while [[ $# -gt 0 ]]; do
    case $1 in
        -t|--target)
            TARGET="$2"
            shift 2
            ;;
        -b|--build-type)
            BUILD_TYPE="$2"
            shift 2
            ;;
        -p|--programmer)
            PROGRAMMER="$2"
            shift 2
            ;;
        -i|--interface)
            INTERFACE="$2"
            shift 2
            ;;
        -h|--help)
            print_usage
            exit 0
            ;;
        *)
            echo "Unknown option: $1"
            print_usage
            exit 1
            ;;
    esac
done

# Validate target
if [ -z "${TARGET}" ]; then
    echo -e "${RED}Error: Target not specified${NC}"
    print_usage
    exit 1
fi

# Set default programmer based on target
if [ -z "${PROGRAMMER}" ]; then
    case "${TARGET}" in
        stm32f407_discovery)
            PROGRAMMER="stlink"
            INTERFACE="swd"
            ;;
        nxp_s32k144_evb)
            PROGRAMMER="jlink"
            INTERFACE="swd"
            ;;
        custom_ecu)
            PROGRAMMER="openocd"
            INTERFACE="swd"
            ;;
    esac
fi

# Firmware file
FIRMWARE_FILE="${PROJECT_ROOT}/build/${TARGET}/${BUILD_TYPE}/automotive_rtos.elf"
HEX_FILE="${PROJECT_ROOT}/build/${TARGET}/${BUILD_TYPE}/automotive_rtos.hex"

# Check if firmware exists
if [ ! -f "${FIRMWARE_FILE}" ]; then
    echo -e "${RED}Error: Firmware not found: ${FIRMWARE_FILE}${NC}"
    echo -e "${YELLOW}Run build_target.sh first${NC}"
    exit 1
fi

# Print flash info
echo -e "${BLUE}========================================${NC}"
echo -e "${BLUE}  Flashing Firmware${NC}"
echo -e "${BLUE}========================================${NC}"
echo -e "  Target:     ${YELLOW}${TARGET}${NC}"
echo -e "  Programmer: ${YELLOW}${PROGRAMMER}${NC}"
echo -e "  Interface:  ${YELLOW}${INTERFACE}${NC}"
echo -e "  Firmware:   ${YELLOW}${FIRMWARE_FILE}${NC}"
echo ""

# Flash based on programmer
case "${PROGRAMMER}" in
    stlink)
        echo -e "${YELLOW}Flashing with ST-Link...${NC}"
        st-flash --reset write "${HEX_FILE}" 0x08000000
        ;;

    jlink)
        echo -e "${YELLOW}Flashing with J-Link...${NC}"

        # Create J-Link script
        JLINK_SCRIPT="${PROJECT_ROOT}/build/flash.jlink"
        cat > "${JLINK_SCRIPT}" << EOF
device ${TARGET}
si ${INTERFACE}
speed 4000
loadfile ${HEX_FILE}
r
g
q
EOF

        JLinkExe -CommanderScript "${JLINK_SCRIPT}"
        ;;

    openocd)
        echo -e "${YELLOW}Flashing with OpenOCD...${NC}"

        # OpenOCD configuration
        case "${TARGET}" in
            stm32f407_discovery)
                OOCD_CFG="board/stm32f4discovery.cfg"
                ;;
            *)
                OOCD_CFG="board/${TARGET}.cfg"
                ;;
        esac

        openocd \
            -f "interface/${INTERFACE}.cfg" \
            -f "${OOCD_CFG}" \
            -c "program ${FIRMWARE_FILE} verify reset exit"
        ;;

    *)
        echo -e "${RED}Error: Unknown programmer: ${PROGRAMMER}${NC}"
        exit 1
        ;;
esac

if [ $? -eq 0 ]; then
    echo -e "${GREEN}✓ Flash successful${NC}"
else
    echo -e "${RED}✗ Flash failed${NC}"
    exit 1
fi

# Verify flash
echo -e "${YELLOW}Verifying flash...${NC}"

case "${PROGRAMMER}" in
    stlink)
        st-flash verify "${HEX_FILE}"
        ;;
    *)
        echo -e "${YELLOW}Verification not supported for ${PROGRAMMER}${NC}"
        ;;
esac

echo -e "${GREEN}========================================${NC}"
echo -e "${GREEN}  Flash Complete${NC}"
echo -e "${GREEN}========================================${NC}"