//
// Created by iflyt on 2025/3/2.
//

#ifndef BUTTON_MANAGER_H
#define BUTTON_MANAGER_H

#include <stm32f4xx_hal.h>
#include <cmsis_os2.h>

// 按键和传感器引脚定义
#define SYSTEM_POWER_PIN GPIO_PIN_0
#define SYSTEM_POWER_PORT GPIOA
#define E_STOP_PIN GPIO_PIN_12
#define E_STOP_PORT GPIOF

#define X_ORIGIN_PIN GPIO_PIN_6
#define X_LIMIT_PIN GPIO_PIN_7
#define X_PORT GPIOB

#define Y_ORIGIN_PIN GPIO_PIN_9
#define Y_LIMIT_PIN GPIO_PIN_10
#define Y_PORT GPIOB

#define Z_ORIGIN_PIN GPIO_PIN_13
#define Z_LIMIT_PIN GPIO_PIN_14
#define Z_PORT GPIOB

#define PIN_COUNT 8
// 轴状态枚举
enum class AxisState {
    ORIGIN,
    ORIGIN_BOUNDARY,
    BETWEEN,
    LIMIT_BOUNDARY,
    LIMIT
};

typedef struct {
    GPIO_TypeDef *port;
    uint16_t pin;
    GPIO_PinState activeLevel;  // 有效电平
    int debounceTime;   // 消抖时间
} B_PinInfo;

// 按键类
class ButtonManager {

public:
    // 获取单例实例的静态方法
    static ButtonManager* ins();
    // 删除拷贝构造函数和赋值运算符，防止复制实例
    ButtonManager(const ButtonManager&) = delete;
    ButtonManager& operator=(const ButtonManager&) = delete;

    static void handleInterrupt(uint16_t pin);

    bool isPinTriggered(uint16_t targetPin);


private:
    ButtonManager();
    ~ButtonManager();

    bool isPinStateTriggered(uint16_t pin, bool state);

    static void handleKeyInterrupts(void* arg);
    void processKeyEvent(uint16_t pin, bool state);
    static GPIO_TypeDef* getPortByPin(uint16_t pin);

    static int getPinIndex(uint16_t pin);

    bool readPin(GPIO_TypeDef* port, uint16_t pin);

    static int getPinDebounceTime(uint16_t pin);

private:
    static ButtonManager* instance;
    uint32_t debounceTime = 10;     // 按键软件消抖时间
    osMessageQueueId_t keyQueue;
    bool pinStates[PIN_COUNT];  // 引脚状态数组
    static const uint16_t pins[];

    // 初始化引脚信息数组
    const static B_PinInfo pinInfos[8];
};

#ifdef __cplusplus
extern "C" {
#endif
    void EX_GPIO_Init(void);
    uint16_t getORIGINPin(uint32_t motor_index);
    uint16_t getAxisLimitPin(uint32_t motor_index);

#ifdef __cplusplus
}
#endif

#endif //BUTTON_MANAGER_H