#include "main.hpp"

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

#include "main.h"
#include "project.hpp"
//
#include "one_dimensional_code_laser_scanner.hpp"
// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
#include "sdk/hal/zhal.hpp"
#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

#define TAG "main"
namespace iflytop {
Main gmain;
};

using namespace iflytop;

IflytopCanProtocolStackProcesser m_protocolStack;

TMC5130 m_tj_motor;
TMC5130 m_py_motor;

ZGPIO debuglight;

ZGPIO io_fybh_read1;
ZGPIO io_fybh_read2;
ZGPIO io_fybh_read3;
ZGPIO io_fybh_read4;
ZGPIO io_fybh_read5;
ZGPIO io_fybh_read6;

ZGPIO io_fybjl_sensor8;
ZGPIO io_fybjl_sensor7;
ZGPIO io_fybjl_sensor6;
ZGPIO io_fybjl_sensor5;
ZGPIO io_fybjl_sensor4;
ZGPIO io_fybjl_sensor3;
ZGPIO io_fybjl_sensor2;
ZGPIO io_fybjl_sensor1;
ZGPIO io_fybjl_sensor0;

M3078CodeScanner m_m3078CodeScanner;

DeviceBaseControlService       m_deviceBaseControlService;
IOControlService               m_ioControlService;
SingleAxisMotorControler       m_pyMotorControlService;  // 平移电机
SingleAxisMotorControler       m_tjMotorControlService;  // 推进电机
OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
IDCardReaderService            m_idCardReaderService;

ZCanReceiver m_canReceiver;

void input_sensors_init() {
  io_fybh_read1.initAsInput(FYBH_READ1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
  io_fybh_read2.initAsInput(FYBH_READ2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
  io_fybh_read3.initAsInput(FYBH_READ3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
  io_fybh_read4.initAsInput(FYBH_READ4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
  io_fybh_read5.initAsInput(FYBH_READ5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
  io_fybh_read6.initAsInput(FYBH_READ6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);

  io_fybjl_sensor8.initAsInput(FYBJL_SENSOR8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  io_fybjl_sensor7.initAsInput(FYBJL_SENSOR7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  io_fybjl_sensor6.initAsInput(FYBJL_SENSOR6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  io_fybjl_sensor5.initAsInput(FYBJL_SENSOR5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
  io_fybjl_sensor4.initAsInput(FYBJL_SENSOR4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
  io_fybjl_sensor3.initAsInput(FYBJL_SENSOR3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  io_fybjl_sensor2.initAsInput(FYBJL_SENSOR2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
  io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
  io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
}

void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
  ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
  for (size_t i = 0; i < len; i++) {
    printf("%02X ", packet[i]);
  }
  printf("\n");
}

void Main::run() {
  ZHALCORE::cfg_t oscfg = {
      .delayhtim = &DELAY_US_TIMER,
      .debuguart = &DEBUG_UART,
  };
  ZHALCORE::getInstance()->initialize(oscfg);

  ZLOGI(TAG, "zapp:%s", VERSION);
  printf("int32_t %d int %d longint %d\n", sizeof(int32_t), sizeof(int), sizeof(long int));

  debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
  ZHAL_CORE_REG(200, { debuglight.toggleState(); });

  ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID);
  m_canReceiver.init(cfg);
  m_canReceiver.registerListener(this);

  // uint8_t packet[255];
  // for (int i = 0; i < 255; i++) {
  //   packet[i] = i;
  // }
  // ZHAL_CORE_REG(200, { m_canReceiver.sendPacket(packet, 255); });

  ZLOGI(TAG, "init done");
  while (1) {
    ZHALCORE::getInstance()->loop();
  }
}