#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\modbus\modbus_client.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"
//
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
#include "serial485_to_analog.hpp"
#include "temperature_sensor.hpp"
#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;
static Serial485ToAnalog       serial485_to_analog;

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

class UARTSender : public ZIUartSender {
  UART_HandleTypeDef* m_huart;

 public:
  void         init(UART_HandleTypeDef* huart) { m_huart = huart; }
  virtual void send(const uint8_t* data, size_t len) { HAL_UART_Transmit(m_huart, (uint8_t*)data, len, 1000); }
};

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                                *
 *******************************************************************************/
void              nvs_init_cb() {}
TemperatureSensor m_temperature_sensor[8];

static void initsubmodule() {
  osDelay(1000);
  {
    m_temperature_sensor[0].initialize(&hadc1, ADC_CHANNEL_10);
    m_temperature_sensor[1].initialize(&hadc1, ADC_CHANNEL_11);
    m_temperature_sensor[2].initialize(&hadc1, ADC_CHANNEL_12);
    m_temperature_sensor[3].initialize(&hadc1, ADC_CHANNEL_13);
    m_temperature_sensor[4].initialize(&hadc1, ADC_CHANNEL_14);
  }
  {
    /*******************************************************************************
     *                              温度4->20MA转485                               *
     *******************************************************************************/
    /**
     * @brief
     *  串口参数:
     *        115200
     *        奇偶校验位:无校验
     *        停止位:一个停止位
     */
    ZASSERT(PC_MODBUS_UART.Init.BaudRate == 115200);
    ZASSERT(PC_MODBUS_UART.Init.Parity == UART_PARITY_NONE);
    ZASSERT(PC_MODBUS_UART.Init.StopBits == UART_STOPBITS_1);
    serial485_to_analog.initialize(&PC_MODBUS_UART, NULL, NULL);
    serial485_to_analog.reg(&m_temperature_sensor[0]);
    serial485_to_analog.reg(&m_temperature_sensor[1]);
    serial485_to_analog.reg(&m_temperature_sensor[2]);
    serial485_to_analog.reg(&m_temperature_sensor[3]);
    serial485_to_analog.reg(&m_temperature_sensor[4]);
    serial485_to_analog.start();

    // static ZUARTDmaReceiver                    dmaUartReceiver;
    // static ZUARTDmaReceiver::hardware_config_t cfg = {
    //     .huart         = &PC_MODBUS_UART,
    //     .dma_rx        = &PC_MODBUS_UART_DMA_HANDLER,
    //     .rxbuffersize  = PC_MODBUS_UART_RX_BUF_SIZE,
    //     .rxovertime_ms = 1,
    // };
    // dmaUartReceiver.initialize(&cfg);

    // static UARTSender uartSender;
    // uartSender.init(&PC_MODBUS_UART);

    // ModulebusClient::Inst()->init(
    //     &dmaUartReceiver, &uartSender, 1,  //
    //     [](uint16_t regadd, uint16_t& val) {
    //       int32_t sendval = 0;
    //       if (regadd == 11) {
    //         m_temperature_sensor[0].getTemperature(sendval);
    //         val = sendval;
    //       } else if (regadd == 12) {
    //         m_temperature_sensor[1].getTemperature(sendval);
    //         val = sendval;
    //       } else if (regadd == 13) {
    //         m_temperature_sensor[2].getTemperature(sendval);
    //         val = sendval;
    //       } else if (regadd == 14) {
    //         m_temperature_sensor[3].getTemperature(sendval);
    //         val = sendval;
    //       } else if (regadd == 15) {
    //         m_temperature_sensor[4].getTemperature(sendval);
    //         val = sendval;
    //       }
    //     },  //
    //     [](uint16_t regadd, uint16_t val) {});
    // OSDefaultSchduler::getInstance()->regPeriodJob([](OSDefaultSchduler::Context& context) { ModulebusClient::Inst()->loop(); }, 1);
  }
  {
    // 115200
    /*******************************************************************************
     *                                试管帽夹舵机                                 *
     *******************************************************************************/
    static FeiTeServoMotor feiteservomotor_bus;  // 飞特舵机总线

    // 飞特舵机总线
    ZASSERT(huart3.Init.BaudRate == 115200);
    feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);

    {
      static MiniRobotCtrlModule                 mini_servo;
      static MiniRobotCtrlModule::flash_config_t cfg = {0};
      cfg.default_torque                             = 330;
      mini_servo.initialize(initer.get_module_id(1), &feiteservomotor_bus, 1, &cfg);
      initer.register_module(&mini_servo);
    }
    {
      static MiniRobotCtrlModule                 mini_servo;
      static MiniRobotCtrlModule::flash_config_t cfg = {0};
      cfg.default_torque                             = 330;
      mini_servo.initialize(initer.get_module_id(2), &feiteservomotor_bus, 2, &cfg);
      initer.register_module(&mini_servo);
    }
    {
      static MiniRobotCtrlModule                 mini_servo;
      static MiniRobotCtrlModule::flash_config_t cfg = {0};
      cfg.default_torque                             = 330;
      mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 3, &cfg);
      initer.register_module(&mini_servo);
    }
    {
      static MiniRobotCtrlModule                 mini_servo;
      static MiniRobotCtrlModule::flash_config_t cfg = {0};
      cfg.default_torque                             = 330;
      mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 4, &cfg);
      initer.register_module(&mini_servo);
    }
    {
      static MiniRobotCtrlModule                 mini_servo;
      static MiniRobotCtrlModule::flash_config_t cfg = {0};
      cfg.default_torque                             = 330;
      mini_servo.initialize(initer.get_module_id(5), &feiteservomotor_bus, 5, &cfg);
      initer.register_module(&mini_servo);
    }
  }
}

/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {
          .deviceId    = getDeviceId(),
          .input_gpio  = {},
          .output_gpio = {},
          .temperature_sensor =
              {
                  &m_temperature_sensor[0],
                  &m_temperature_sensor[1],
                  &m_temperature_sensor[2],
                  &m_temperature_sensor[3],
                  &m_temperature_sensor[4],
              },
      };
  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}