#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 "temperature_sensor.hpp"

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

static ZCancmderSubboardIniter initer;

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);
  }
  {
    /*******************************************************************************
     *                        温度传感器MODBUS CLIEN 初始化                        *
     *******************************************************************************/

    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 == 0) {
            m_temperature_sensor[0].getTemperature(sendval);
            val = sendval;
          } else if (regadd == 1) {
            m_temperature_sensor[1].getTemperature(sendval);
            val = sendval;
          } else if (regadd == 2) {
            m_temperature_sensor[2].getTemperature(sendval);
            val = sendval;
          } else if (regadd == 3) {
            m_temperature_sensor[3].getTemperature(sendval);
            val = sendval;
          } else if (regadd == 4) {
            m_temperature_sensor[4].getTemperature(sendval);
            val = sendval;
          }
        },  //
        [](uint16_t regadd, uint16_t val) {});
  }
  {
    // 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();
}