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

#include "base/config_service.hpp"
#include "base/device_info.hpp"
#include "spi.h"
#include "usart.h"
#include "zsdk/modbus/modbus_block_host.hpp"
#include "zsdk/pxx_pressure_sensor_driver/pxx_pressure_sensor_bus.hpp"
#include "zsdk/tmc/ztmc5130.hpp"
#include "zsdk/zsdk.hpp"

void hardware_init();

namespace iflytop {
class Hardware {
  ZSPI            m_motor_spi;        //
  ModbusBlockHost m_modbusBlockHost;  //

  TMC5130              m_motor[2];                       // 蠕动泵控制
  ZGPIO                m_sl_mini_ac_ctrl;                // 喷液空压机(MINI)
  ZGPIO                m_atta_mini_air_compressor_ctrl;  // 气密性测试空压机(MINI)
  PXXPressureSensorBus m_pressureSensorBus;              // PXX压力传感器总线

 public:
  static Hardware& ins() {
    static Hardware ins;
    return ins;
  }

  void init();

  int32_t  motorNum() { return ZARRAY_SIZE(m_motor); }
  TMC5130* motor(int32_t index) {
    if (index < ZARRAY_SIZE(m_motor)) {
      return &m_motor[index];
    }
    return nullptr;
  }
  ZGPIO* sl_mini_ac_ctrl() { return &m_sl_mini_ac_ctrl; }
  ZGPIO* atta_mini_air_compressor_ctrl() { return &m_atta_mini_air_compressor_ctrl; }

  PXXPressureSensorBus* pressureSensorBus() { return &m_pressureSensorBus; }
};

}  // namespace iflytop