#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"
//
#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
//
#include <stdint.h>

#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\hal\zuart.hpp"

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

using namespace iflytop;

IflytopCanProtocolStackProcesser m_protocolStack;

TMC5130 m_motor1;
TMC5130 m_motor2;

ZGPIO debuglight;

ZGPIO triLight_R;
ZGPIO triLight_G;
ZGPIO triLight_B;
ZGPIO triLight_BEEP;

ZGPIO m_input1;
ZGPIO m_input2;
ZGPIO m_input3;
ZGPIO m_input4;
ZGPIO m_input5;

ZGPIO output0;
ZGPIO output1;

ZCanReceiver                    m_canReceiver;
ZCanBasicOrderModule            m_basicOrderModule;
ZCanPumpCtrlModule              m_pumpCtrlModule;
ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;
HuachengPressureSensor          m_huachengPressureSensor;

void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
  int32_t ppm = rpm / 60.0 * 51200;
  int32_t acc = acc_rpm2 / 60.0 * 51200;

  int16_t _idlepower = 1;
  int16_t _power     = 31;

  if (idlepower > 0 && idlepower < 31) {
    _idlepower = idlepower;
  }
  if (power > 0 && power < 31) {
    _power = power;
  }

  motor->setIHOLD_IRUN(_idlepower, _power, 10);  // 5W
  motor->setAcceleration(acc);
  motor->setDeceleration(acc);
  motor->rotate(ppm);
}

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, "pipeline_disinfection_liquid_path_control:%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);

  /**
   * @brief 基础模块
   */
  m_input1.initAsInput(PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input2.initAsInput(PC5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input3.initAsInput(PD12, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input4.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input5.initAsInput(PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);

  m_basicOrderModule.initialize(&m_canReceiver);
  m_basicOrderModule.regInputCtl([this](uint8_t id, bool &val) {
    if (id == 1) {
      val = m_input1.getState();
      return true;
    }
    if (id == 2) {
      val = m_input2.getState();
      return true;
    }
    if (id == 3) {
      val = m_input3.getState();
      return true;
    }
    if (id == 4) {
      val = m_input4.getState();
      return true;
    }
    if (id == 5) {
      val = m_input5.getState();
      return true;
    }
    return false;
  });

  output0.initAsOutput(PD14, ZGPIO::kMode_nopull, false, false);
  output1.initAsOutput(PD15, ZGPIO::kMode_nopull, false, false);

  m_basicOrderModule.regOutCtl([this](uint8_t id, bool val) {
    if (id == 20) {
      output0.setState(val);
      return true;
    }
    if (id == 21) {
      output1.setState(val);
      return true;
    }

    // output0
    // output1

    return false;
  });
  ZHAL_CORE_REG(3000, {
                          //  ZLOGI(TAG, "IO1:%d IO2:%d", m_input1.getState(), m_input2.getState());
                          // ZLOGI(TAG, "IO1:%d IO2:%d IO3:%d IO4:%d IO5:%d", m_input1.getState(), m_input2.getState(), m_input3.getState(),
                          // m_input4.getState(), m_input5.getState());

                      });

  /*******************************************************************************
   *                                 蠕动泵驱动                                  *
   *******************************************************************************/

  {
    TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};

    m_motor1.initialize(&cfg);
    int32_t chipv = m_motor1.readChipVERSION();
    ZLOGI(TAG, "m_motor1:%lx", chipv);
    m_motor1.setIHOLD_IRUN(1, 20, 0);
    m_motor1.setMotorShaft(true);

    m_motor1.setAcceleration(300000);
    m_motor1.setDeceleration(300000);
    // m_motor1.rotate(1000000);
  }

  {
    TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR2_ENN, .csn_pin = MOTOR2_CSN};

    m_motor2.initialize(&cfg);
    int32_t chipv = m_motor2.readChipVERSION();
    ZLOGI(TAG, "m_motor2:%lx", chipv);
    m_motor2.setIHOLD_IRUN(1, 20, 0);  // 5W
    m_motor2.setMotorShaft(true);

    m_motor2.setAcceleration(300000);
    m_motor2.setDeceleration(300000);
    // m_motor1.rotate(1000000);
  }

  m_pumpCtrlModule.initialize(&m_canReceiver);
  m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
    ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm);
    setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power);
  });
  m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
    ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc_rpm2, rpm);
    setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power);
  });

  /*******************************************************************************
   *                                 三色指示灯                                  *
   *******************************************************************************/

  {
    triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, false, false);
    triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, false, false);
    triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, false, false);
    triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, false, false);

    m_warningLightCtlModule.initialize(&m_canReceiver);
    m_warningLightCtlModule.regSubmodule(1, [&](uint8_t r, uint8_t g, uint8_t b, uint8_t beep) {
      ZLOGI(TAG, "warningLightCtlModule r:%d g:%d b:%d beep:%d", r, g, b, beep);
      triLight_R.setState(r != 0);
      triLight_G.setState(g != 0);
      triLight_B.setState(b != 0);
      triLight_BEEP.setState(beep != 0);
    });
  }

  /*******************************************************************************
   *                                 压力传感器                                  *
   *******************************************************************************/

  // while (true) {
  //   static ModbusBlockHost modbusBlockHost;
  //   modbusBlockHost.initialize(&huart3);
  //   int16_t val[1] = {0};
  //   bool    suc    = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50);
  //   printf("suc:%d val:%d\n", suc, val[0]);
  //   chip_delay_ms(1000);
  // }

  {
    m_huachengPressureSensor.initialize(&m_canReceiver);
    m_huachengPressureSensor.regSubmodule(1, [this](DP600PressureSensor::sensor_data_t *data) {  //
      static ModbusBlockHost modbusBlockHost;
      modbusBlockHost.initialize(&huart3);
      int16_t val[1] = {0};
      bool    suc    = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50);
      if (!suc) {
        return false;
      }
      data->precision        = 3;
      data->pressure_unit    = 1;
      data->value            = val[0];
      data->zero_point       = 0;
      data->range_full_point = 0;

      return true;
    });
    m_huachengPressureSensor.regSubmodule(2, &huart3, 2);
    m_huachengPressureSensor.regSubmodule(3, &huart3, 3);
    m_huachengPressureSensor.regSubmodule(4, &huart3, 4);
  }

  /*******************************************************************************
   *                               调试方法初始化                                *
   *******************************************************************************/
  static ZUART          uartreceiver;
  static CmdSchedulerV2 cmdScheduler;
  static ZUART::cfg_t   uartreceiver_cfg = {
        .name          = "uartreceiver",
        .huart         = &DEBUG_UART,
        .rxbuffersize  = 512,
        .rxovertime_ms = 30,
  };
  uartreceiver.initialize(&uartreceiver_cfg);
  cmdScheduler.initialize(&uartreceiver);

  cmdScheduler.regCMD("setmotor1", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4,  //
                      [](int32_t paramN, const char **paraV, ICmdParserACK *ack) {
                        int16_t acc_rpm2  = atoi(paraV[0]);
                        int16_t rpm       = atoi(paraV[1]);
                        int16_t idlepower = atoi(paraV[2]);
                        int16_t power     = atoi(paraV[3]);
                        setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power);
                        ack->setNoneAck(0);
                      });
  cmdScheduler.regCMD("setmotor2", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4,  //
                      [](int32_t paramN, const char **paraV, ICmdParserACK *ack) {
                        int16_t acc_rpm2  = atoi(paraV[0]);
                        int16_t rpm       = atoi(paraV[1]);
                        int16_t idlepower = atoi(paraV[2]);
                        int16_t power     = atoi(paraV[3]);
                        setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power);
                        ack->setNoneAck(0);
                      });
  cmdScheduler.regCMD("setlight", "(uint8_t r, uint8_t g, uint8_t b, uint8_t beep)", 4,  //
                      [](int32_t paramN, const char **paraV, ICmdParserACK *ack) {
                        uint8_t r    = atoi(paraV[0]);
                        uint8_t g    = atoi(paraV[1]);
                        uint8_t b    = atoi(paraV[2]);
                        uint8_t beep = atoi(paraV[3]);
                        triLight_R.setState(r != 0);
                        triLight_G.setState(g != 0);
                        triLight_B.setState(b != 0);
                        triLight_BEEP.setState(beep != 0);
                        ack->setNoneAck(0);
                      });

  cmdScheduler.regCMD("readio", "()", 0,  //
                      [](int32_t paramN, const char **paraV, ICmdParserACK *ack) {
                        uint8_t sensorid = atoi(paraV[0]);
                        ZLOGI(TAG, "IO1:%d IO2:%d IO3:%d IO4:%d IO5:%d",  //
                              m_input1.getState(), m_input2.getState(), m_input3.getState(), m_input4.getState(), m_input5.getState());
                        ack->setNoneAck(0);
                      });
  cmdScheduler.regCMD("pressure_sensor_read", "(uint8_t sensorid)", 1,  //
                      [](int32_t paramN, const char **paraV, ICmdParserACK *ack) {
                        uint8_t                            sensorid = atoi(paraV[0]);
                        DP600PressureSensor::sensor_data_t data     = m_huachengPressureSensor.readsensordata(sensorid);
                        ZLOGI(TAG, "precision:%d", data.precision);
                        ZLOGI(TAG, "pressure_unit:%d", data.pressure_unit);
                        ZLOGI(TAG, "value:%d", data.value);
                        ZLOGI(TAG, "zero_point:%d", data.zero_point);
                        ZLOGI(TAG, "range_full_point:%d", data.range_full_point);
                        ack->setNoneAck(0);
                      });
  ZLOGI(TAG, "init done");
  while (1) {
    cmdScheduler.schedule();
    ZHALCORE::getInstance()->loop();
  }
}