#include <stddef.h>
#include <stdio.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }

extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  static ZGPIO ID4;
  if (!init) {
    ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    init = true;
  }
  uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
  return id;
}
/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
class PWMCtrler : public ZIPWMCtrl {
  ZPWMGenerator pwm;
  int32_t       m_freq  = 50000;
  int32_t       m_duty  = 30;
  int32_t       m_state = 0;

 public:
  void initialize() {
    pwm.initialize(&htim2, TIM_CHANNEL_2, m_freq, 0);
    pwm.stopPWM();
  }

  virtual int32_t pwm_set_state(int32_t state) {
    if (state) {
      pwm.startPWM(m_freq, m_duty);
    } else {
      pwm.stopPWM();
    }
    m_state = state;
    return 0;
  }
  virtual int32_t pwm_get_state(int32_t& state) {
    state = m_state;
    return 0;
  }

  virtual int32_t set_pwm_duty(int32_t duty) {
    m_duty = duty;
    if (m_state) {
      pwm.startPWM(m_freq, m_duty);
    }
    return 0;
  }
  virtual int32_t get_pwm_duty(int32_t& duty) {
    duty = m_duty;
    return 0;
  }

  virtual int32_t set_pwm_freq(int32_t freq) {
    m_freq = freq;
    if (m_state) {
      pwm.startPWM(m_freq, m_duty);
    }
    return 0;
  }
  virtual int32_t get_pwm_freq(int32_t& duty) {
    duty = m_freq;
    return 0;
  }
};

PWMCtrler pwmCtrler;

void        nvs_init_cb() {}
static void initsubmodule() {
  // osDelay(1000);
  {
    pwmCtrler.initialize();
    pwmCtrler.pwm_set_state(0);
  }
}
/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {
          .deviceId = getDeviceId(),
          .input_gpio =
              {
                  {.pin = PD0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD5, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD6, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD7, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD8, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD9, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD10, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD11, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD12, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD13, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD14, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
                  {.pin = PD15, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},

              },
          .output_gpio =
              {
                  {.pin = PE7, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE8, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE9, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE10, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE11, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE12, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE13, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE14, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PE15, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB0, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB1, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB2, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB3, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB4, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB5, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  {.pin = PB6, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
                  //
                  {.pin = PC6, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
                  {.pin = PC7, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
                  {.pin = PC8, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
              },
          .pwmctrl =
              {
                  // &pwmCtrler,
              },
      };

  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}