#include "cJSON.h"
#include "cJSON_Utils.h"
#include "driver/gpio.h"
#include "driver/timer.h"
#include "driver/uart.h"
#include "esp_log.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "freertos/task.h"
#include "nvs_flash.h"
#include "string.h"
//
#include "ble_spp_server_demo.h"
#include "motor_drive.h"
#include "port.h"

#define MAIN_LOG_TAG "MAIN"

#define ble_uart_tx_size 128
#define ble_uart_rx_size 128

#define construct_cmd_packet_buffer_size 256

typedef struct {
  int index;
  const char *order;
} RxContext_t;

static uint8_t bluetooth_tx_buffer[ble_uart_tx_size] = {0};
static uint8_t bluetooth_rx_buffer[ble_uart_rx_size] = {0};

bleuart_t ble_uart_init_struct = {
    .txbuf = bluetooth_tx_buffer,
    .txbufsize = sizeof(bluetooth_tx_buffer),
    .rxbuf = bluetooth_rx_buffer,
    .rxbufsize = sizeof(bluetooth_rx_buffer),
    .rxpacketReceiveOvertime = 200,
    .receive_data_processing_flag = false,
    .maxClientNum = 1,
    .bleName = "yimei_ble",
    .ble_connect_flag = false,
};
motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};

void construct_set_position_packet_and_report(int index, uint8_t setPosition_code) {
  uint8_t buffer[construct_cmd_packet_buffer_size] = {0};

  ESP_LOGI(MAIN_LOG_TAG, "Command setPosition execution complete!");

  if (setPosition_code == 0) {
    snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"success\", \"index\": %d }",  //
             /* code  :*/ setPosition_code,                                                                                                       //
             /* index :*/ index                                                                                                                   //
    );
    bleuart_notify_send(buffer, strlen((char *)buffer));
  } else {
    snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"error\", \"index\": %d }",  //
             /* code  :*/ setPosition_code,                                                                                                     //
             /* index :*/ index                                                                                                                 //
    );
    bleuart_notify_send(buffer, strlen((char *)buffer));
  }
}

void construct_get_status_packet_and_report(int index, double motor_position) {
  uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
  if (motor_turning == false) {
    snprintf((char *)buffer, construct_cmd_packet_buffer_size,
             "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": "
             ", \"position\":%lf }",
             /* index       :*/ index,          //
             /* deviceState :*/ "idel",         //
             /* positon     :*/ motor_position  //
    );
  } else {
    snprintf((char *)buffer, construct_cmd_packet_buffer_size,
             "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": "
             ", \"position\":%lf }",
             /* index       :*/ index,          //
             /* deviceState :*/ "rotating",     //
             /* positon     :*/ motor_position  //
    );
  }

  ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer);
  bleuart_notify_send(buffer, strlen((char *)buffer));
}

void construct_set_motorCurrentSize_packet_and_report(int index) {
  uint8_t buffer[construct_cmd_packet_buffer_size] = {0};

  snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"index\": %d }",
           /* index       :*/ index  //
  );
  ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer);
  bleuart_notify_send(buffer, strlen((char *)buffer));
}

void construct_stop_motor_packet_and_report(int index, bool stop_flag) {
  uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
  uint8_t *stop_flag_str = "null";

  if (stop_flag) {
    stop_flag_str = "successful";
  } else {
    stop_flag_str = "fail";
  }

  snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"index\": %d \"stopFlag\": %s}",
           /* index       :*/ index,         //
           /* stopFlag    :*/ stop_flag_str  //
  );
  ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer);
  bleuart_notify_send(buffer, strlen((char *)buffer));
}

void process_setPosition(RxContext_t *context, cJSON *rxjson) {
  // { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
  int speedLevel = 0;
  float position = 0;
  int direction = 0;
  uint8_t setPosition_code;
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) {
    position = cJSON_GetObjectItem(rxjson, "position")->valuedouble;
  }
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "speedLevel"))) {
    speedLevel = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "speedLevel"));
  }
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
    direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
  }
  ESP_LOGI(MAIN_LOG_TAG, "order = %s,index = %d,speedLevel = %d,position = %lf,direction = %d", context->order, context->index, speedLevel, position, direction);
  setPosition_code = motor_run_to_postion(1, position, 0);
  motor_turning = true;
  construct_set_position_packet_and_report(context->index, setPosition_code);
}

void process_getStatus(RxContext_t *context, cJSON *rxjson) {
  double motor_position = motor_get_position_degree();
  construct_get_status_packet_and_report(context->index, motor_position);
}

void process_setMotorCurrentSize(RxContext_t *context, cJSON *rxjson) {
  motor_set_zero_point();
  construct_set_motorCurrentSize_packet_and_report(context->index);
}

void process_stopMotor(RxContext_t *context, cJSON *rxjson) {
  bool motor_stop_flag;
  motor_stop_flag = motor_stop();
  construct_stop_motor_packet_and_report(context->index, motor_stop_flag);
}

void processrxjson(cJSON *rxjson) {
  if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
    return;
  }
  RxContext_t rxcontext = {0};

  if (cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
    rxcontext.order = cJSON_GetStringValue(cJSON_GetObjectItem(rxjson, "order"));
  }

  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
    rxcontext.index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
  }

  if (strcmp(rxcontext.order, "setPosition") == 0) {
    process_setPosition(&rxcontext, rxjson);
  } else if (strcmp(rxcontext.order, "getStatus") == 0) {
    process_getStatus(&rxcontext, rxjson);
  } else if (strcmp(rxcontext.order, "setMotorCurrentSize") == 0) {
    process_setMotorCurrentSize(&rxcontext, rxjson);
  } else if (strcmp(rxcontext.order, "stopMotor") == 0) {
    process_setMotorCurrentSize(&rxcontext, rxjson);
  }
}

void blerxcb(uint8_t *rxmessage, size_t rxsize) {
  rxmessage[rxsize] = 0;
  cJSON *rxmessage_json = cJSON_ParseWithLength((char *)rxmessage, rxsize);
  if (rxmessage_json == NULL) {
    ESP_LOGE(MAIN_LOG_TAG, "cJSON_Parse fail rxmessage_json == null,%s", cJSON_GetErrorPtr());
    return;
  }
  processrxjson(rxmessage_json);
  cJSON_Delete(rxmessage_json);
}

void motor_on_event(motor_event_t event) {
  //打算使用sprintf
  if (event == kRunToPosition) {
    ESP_LOGI(MAIN_LOG_TAG, "motor_on_event: kRunToPosition");
    motor_turning = false;
    uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
    double motor_stop_position = motor_get_position_degree();

    //{ "order": "deviceStatusReport", "ble_uart_index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": ""}
    snprintf((char *)buffer, construct_cmd_packet_buffer_size,
             "{ \"order\": \"deviceStatusReport\", \"index\": %d, \"deviceState\": \"idel\", \"position\":%.2lf, \"deviceException\": 0, \"deviceExceptionInfo\": \"\" }",  //
             /*index     :*/ 1,                                                                                                                                             //
             /*position  :*/ motor_stop_position                                                                                                                            //
    );
    bleuart_notify_send(buffer, strlen((char *)buffer));
  }
}

void app_main(void) {
  bleuart_init(&ble_uart_init_struct);
  bleuart_reg_cb(blerxcb);
  ble_set_motor_reg_cb(motor_run_to_postion);

  motor_init(&ble_uart_motor_structer);
  motor_reg_event_cb(motor_on_event);

  gpio_output_debug_light_init();

  while (true) {
    if (ble_uart_init_struct.ble_connect_flag == true) {
      port_do_debug_light_state(300);
    } else {
      port_do_debug_light_state(1000);
    }

    bleuart_schedule();
    motor_module_schedule();
  }
}