#include "main.hpp"

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

//
#include "sdk/os/zos.hpp"
//
// #include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
//
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\step_motor_45\script_cmder_step_motor_45.hpp"
// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"

#include "sdk\components\taojingchi_screen\taojingchi_screen_service.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp"
//
#define TAG "main"
namespace iflytop {
Main gmain;
};

using namespace iflytop;
using namespace std;
#define CHECK_ARGC(n)            \
  if (argc != (n + 1)) {         \
    ZLOGE(TAG, "argc != %d", n); \
    context->breakflag = true;   \
    return;                      \
  }
extern "C" {
void StartDefaultTask(void const* argument) { iflytop::gmain.run(); }
}
/*******************************************************************************
 *                                    配置                                     *
 *******************************************************************************/
static chip_cfg_t chipcfg = {
    .us_dleay_tim          = &DELAY_US_TIMER,
    .tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER,
    .huart                 = &DEBUG_UART,
    .debuglight            = DEBUG_LIGHT_GPIO,
};

namespace iflytop {
/*******************************************************************************
 *                                  基础组件                                   *
 *******************************************************************************/
ZCanCommnaderMaster                       m_zcanCommnaderMaster;                // can总线
ModbusBlockHost                           g_modbusblockhost;                    // modbus总线
CmdSchedulerV2                            g_cmdScheduler;                       // 串口字符串指令总线
MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser;  // 用于解析所有的设备指令
ZModuleDeviceManager                      g_zmodule_device_manager;             // 设备管理器
/*******************************************************************************
 *                                   CAN设备                                   *
 *******************************************************************************/
ZIProtocolProxy protocolProxy[30];

}  // namespace iflytop

extern "C" {
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}

extern "C" {}
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;

extern void script_reg_fn();
void        regfn() { script_reg_fn(); }

extern void step_motor_cmd_reg();
void        Main::run() {
  // PB13
  /*******************************************************************************
   *                                 系统初始化                                  *
   *******************************************************************************/

  chip_init(&chipcfg);
  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  /*******************************************************************************
   *                                 总线初始化                                  *
   *******************************************************************************/
  auto* cfg = m_zcanCommnaderMaster.createCFG();  // can总线配置
  m_zcanCommnaderMaster.init(cfg);                // can总线
  g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster);
  /*******************************************************************************
   *                              设备构造和初始化                               *
   *******************************************************************************/

  for (size_t i = 0; i < ZARRAY_SIZE(protocolProxy); i++) {
    protocolProxy[i].initialize(i + 1, &m_zcanCommnaderMaster);
    g_zmodule_device_manager.registerModule(&protocolProxy[i]);
  }
  /*******************************************************************************
   *                             串口字符串指令总线                              *
   *******************************************************************************/
  g_cmdScheduler.initialize(&DEBUG_UART, 1000);  //
  g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);

#if 0
  step_motor_cmd_reg();
#endif
  while (true) {
    OSDefaultSchduler::getInstance()->loop();
    g_cmdScheduler.schedule();
    osDelay(1);
  }
}