#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 "global.hpp"
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\hardware\uart\zuart_dma_receiver.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\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\zcancmder\zcan_board_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
// #include "M3078CodeScanner"

#define TAG "main"
using namespace iflytop;
using namespace std;
static ZModuleDeviceManager                      g_zModuleDeviceManager;
static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;
static ZIProtocolProxy                           proxy[255];

void cmdline_version_main() {
  chip_cfg_t chipcfg;
  chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
  chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
  chipcfg.huart                 = &PC_DEBUG_UART;
  chipcfg.debuglight            = PC_DEBUG_LIGHT_GPIO;

  chip_init(&chipcfg);

  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  ZLOGI(TAG, "boardId:%d", 0);

  ZLOGI(TAG, "init can bus");
  auto* m_zcanCommnaderMaster_cfg = g_zcanCommnaderMaster.createCFG();  // can总线配置
  g_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg);                // can总线
  g_zModuleDeviceManager.initialize(&g_zcanCommnaderMaster);
  ZLOGI(TAG, "init can bus end...");

  static ZUARTDmaReceiver             dmaUartReceiver;
  static CmdSchedulerV2               cmder;
  ZUARTDmaReceiver::hardware_config_t cfg = {
      .huart         = &PC_DEBUG_UART,
      .dma_rx        = &PC_DEBUG_UART_DMA_HANDLER,
      .rxbuffersize  = PC_DEBUG_UART_RX_BUF_SIZE,
      .rxovertime_ms = 10,
  };
  ZLOGI(TAG, "init cmder");
  dmaUartReceiver.initialize(&cfg);
  cmder.initialize(&dmaUartReceiver);
  ZLOGI(TAG, "init cmder end...");

  ZLOGI(TAG, "init module");
  g_zModuleDeviceManager.initialize(&g_zcanCommnaderMaster);
  g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager);
  ZLOGI(TAG, "reg modules");

  for (size_t i = 1; i < 255; i++) {
    proxy[i].initialize(i, &g_zcanCommnaderMaster);
    g_zModuleDeviceManager.registerModule(&proxy[i]);
  }

  ZLOGI(TAG, "board init ok...");
  osDelay(3000);

  // 11  加热转盘
  // 12  开盖1
  // 21  主机械臂升降
  // 22  主机械臂夹取
  // 31  主机械臂旋转
  // 41  加液机械臂旋转
  // 51  加液转盘
  // 61  加酸蠕动泵1
  // 70  IO板

  // 加热转盘
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_shaft, 0);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse, 10000);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse_denominator, 30);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_velocity, 150);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_acc, 25);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_dec, 10);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_ihold, 0);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_irun, 31);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_iholddelay, 100);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_speed, 120);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_dec, 25);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_speed, 25);
  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_dec, 50);
  // g_zModuleDeviceManager.module_active_cfg(11);

  // // 盖盖舵机
  // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_velocity, 150);
  // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_torque, 1000);
  // g_zModuleDeviceManager.module_active_cfg(12);

  // // 升降
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_shaft, 0);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse, 1000);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse_denominator, 1);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_velocity, 150);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_acc, 25);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_dec, 10);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_ihold, 0);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_irun, 31);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_iholddelay, 100);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_speed, 120);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_dec, 25);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_speed, 25);
  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_dec, 50);
  // g_zModuleDeviceManager.module_active_cfg(21);


  // // 夹爪舵机
  // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_velocity, 800);
  // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_torque, 330);
  // g_zModuleDeviceManager.module_active_cfg(22);

  // // 加液体泵
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_shaft, 0);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse, 10000);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse_denominator, 1);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_velocity, 50);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_acc, 300);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_dec, 300);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_ihold, 0);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_irun, 4);
  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_iholddelay, 100);
  // g_zModuleDeviceManager.module_active_cfg(61);

  // 加热转盘
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_shaft, 0);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse, 1000);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse_denominator, 18);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_velocity, 50);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_acc, 300);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_dec, 300);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_ihold, 1);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_irun, 4);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_iholddelay, 100);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_max_d, 36000);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_max_d, 360);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_speed, 50);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_dec, 300);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_speed, 50);
  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_dec, 600);
  // g_zModuleDeviceManager.module_active_cfg(41);

  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_shaft, 0);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse, 3600);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse_denominator, 18);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_velocity, 100);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_acc, 300);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_dec, 300);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_ihold, 1);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_irun, 8);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_iholddelay, 100);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_max_d, 36000);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_max_d, 360);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_speed, 50);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_dec, 300);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_speed, 50);
  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_dec, 600);
  // g_zModuleDeviceManager.module_active_cfg(51);

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