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

#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
#include "sdk/components/step_motor_ctrl_module/step_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\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
// #include "M3078CodeScanner"

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

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
extern "C" {
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
}
static ZCanCmder        g_zcanCmder;
static ZIProtocolParser g_ziProtocolParser;
//
static TMC5130             g_motor;
static StepMotorCtrlModule g_stepMotorCtrlModule;
//
static PipetteModule g_pipetteModule;
// USART4_TX

void init_and_reg_motor() {
  osDelay(1000);
  {
    TMC5130::cfg_t cfg = {
        .spi             = &TMC_MOTOR_SPI,          //
        .csgpio          = MOTOR0_CSN,              //
        .ennPin          = MOTOR0_ENN,              //
        .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
    };
    g_motor.initialize(&cfg);
    g_motor.setMotorShaft(false);
    ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
  }

  g_motor.setAcceleration(100);
  g_motor.setDeceleration(100);
  g_motor.setIHOLD_IRUN(0, 8, 10);

  static ZGPIO input[10];
  input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

  g_stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &g_motor, input, ZARRAY_SIZE(input), MOTOR_CFG_FLASH_MARK);
  g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule);
}

void init_and_reg_cliptip_module() {
  // # RS232输出压力流
  // /1U2!0R\r
  // # 设置移液枪最大行程100,防止设备误操作导致吸入液体到设备中
  // /1u1,100R\r
  PipetteModule::config_t cfg = {
      .limit_ul = 100,
  };

  PipetteModule::hardward_config_t hardwarecfg = {
      .uart    = &huart2,
      .hdma_rx = &hdma_usart2_rx,
      .hdma_tx = &hdma_usart2_tx,
  };
  g_pipetteModule.initialize(BOARD_ID * 10 + 2, &cfg, &hardwarecfg);
  g_ziProtocolParser.registerModule(&g_pipetteModule);
}

void init_and_reg_m3078() {  //
  static M3078CodeScanner                    codescanner;
  static M3078CodeScanner::hardware_config_t cfg = {
      .uart    = &huart2,
      .hdma_rx = nullptr,
      .hdma_tx = nullptr,

      .codeReadOkPin = PinNull,
      .rstPin        = PinNull,
      .triggerPin    = PD15,
  };
  codescanner.initialize(BOARD_ID * 10 + 3, &cfg);
  g_ziProtocolParser.registerModule(&codescanner);
}

void umain() {
  chip_cfg_t chipcfg;
  chipcfg.us_dleay_tim          = &DELAY_US_TIMER;
  chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
  chipcfg.huart                 = &DEBUG_UART;
  chipcfg.debuglight            = DEBUG_LIGHT_GPIO;

  chip_init(&chipcfg);

  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  ZLOGI(TAG, "boardId:%d", BOARD_ID);

  /*******************************************************************************
   *                                   NVSINIT                                   *
   *******************************************************************************/
  ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
  {
    static I_StepMotorCtrlModule::flash_config_t cfg;
    StepMotorCtrlModule::create_default_cfg(cfg);
    ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
  }
  ZNVS::ins().init_config();
  auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID);
  g_zcanCmder.init(zcanCmder_cfg);
  g_ziProtocolParser.initialize(&g_zcanCmder);

  init_and_reg_motor();
  init_and_reg_cliptip_module();
  init_and_reg_m3078();

  while (true) {
    OSDefaultSchduler::getInstance()->loop();
    g_zcanCmder.loop();
  }
};