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

#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.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"
//

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

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
#define TMC_MOTOR_SPI hspi1

static TMC4361A  motora;
static TMC4361A  motorb;
static ZCanCmder zcanCmder;

static StepMotorCtrlModule stepMotorCtrlModule;
static XYRobotCtrlModule   xyRobotCtrlModule;
static ZIProtocolParser    g_ziProtocolParser;

#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"

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 moduleid:%d", BOARD_ID, MODULE_ID);

  /*******************************************************************************
   *                                   NVSINIT                                   *
   *******************************************************************************/
  ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
  {
    static I_XYRobotCtrlModule::flash_config_t cfg;
    XYRobotCtrlModule::create_default_cfg(cfg);
    ZNVS::ins().alloc_config(XYRobotCtrlModule_1_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
  }
  ZNVS::ins().init_config();

  osDelay(1000);
  {
    TMC4361A::cfg_t cfg = {
        .spi               = &TMC_MOTOR_SPI,             //
        .csgpio            = TMC_MOTOR1_SPI_SELECT1_IO,  //
        .resetPin          = TMC_MOTOR1_nRESET_IO,       //
        .fREEZEPin         = TMC_MOTOR1_nFREEZE_IO,      //
        .ennPin            = PinNull,                    //
        .driverIC_ennPin   = TMC_MOTOR1_SUB_IC_ENN_IO,   //
        .driverIC_resetPin = PinNull,                    //
    };
    motora.initialize(&cfg);
    motora.setMotorShaft(false);
    ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.readSubICVersion());
  }

  {
    TMC4361A::cfg_t cfg = {
        .spi               = &TMC_MOTOR_SPI,             //
        .csgpio            = TMC_MOTOR2_SPI_SELECT1_IO,  //
        .resetPin          = TMC_MOTOR2_nRESET_IO,       //
        .fREEZEPin         = TMC_MOTOR2_nFREEZE_IO,      //
        .ennPin            = PinNull,                    //
        .driverIC_ennPin   = TMC_MOTOR2_SUB_IC_ENN_IO,   //
        .driverIC_resetPin = PinNull,                    //
    };
    motorb.initialize(&cfg);
    motorb.setMotorShaft(false);
    ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
  }

  motora.setAcceleration(300);
  motora.setDeceleration(300);
  motora.setIHOLD_IRUN(0, 2, 10);

  motorb.setAcceleration(300);
  motorb.setDeceleration(300);
  motorb.setIHOLD_IRUN(0, 2, 10);

  motora.rotate(0);
  motorb.rotate(0);
  auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
  zcanCmder.init(zcanCmder_cfg);

  /*******************************************************************************
   *                            zcanBasicOrderModule                             *
   *******************************************************************************/
#if 0
  zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
  zcanBasicOrderModule.reg_read_io(1, []() {
    ZLOGI(TAG, "read io 1");
    return 1;
  });
  zcanBasicOrderModule.reg_read_adc(1, []() {
    ZLOGI(TAG, "read adc 1");
    return 123;
  });
#endif

  /*******************************************************************************
   *                            zcanXYRobotCtrlModule                            *
   *******************************************************************************/
  ZGPIO input[8];
  input[0].initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
  input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

  xyRobotCtrlModule.initialize(BOARD_ID, &motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
  xyRobotCtrlModule.dumpcfg();
  // zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);

  g_ziProtocolParser.initialize(&zcanCmder);
  g_ziProtocolParser.registerModule(&xyRobotCtrlModule);

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