#![no_std]
#![no_main]
#![deny(
    clippy::mem_forget,
    reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
    holding buffers for the duration of a data transfer."
)]
use core::fmt::Write;
use alloc::string::ToString;
use esp_hal::uart::{self, Config, Uart};

use esp_hal::clock::CpuClock;
use esp_hal::delay::Delay;
use esp_hal::main;

use esp_hal::gpio::Event;
use esp_hal::gpio::{Input, InputConfig};
use esp_hal::mcpwm::operator::PwmPinConfig;
use esp_hal::mcpwm::timer::PwmWorkingMode;
use esp_hal::time::Rate;

use esp_hal::handler;

use core::cell::RefCell;
use critical_section::Mutex;
use esp_backtrace as _;
use esp_hal::time::{Duration, Instant};
use esp_hal::timer::timg::TimerGroup;
use rtt_target::rprintln;
mod dc_driver;
mod peripherals;
use dc_driver::afroesc::AfroEsc;
use peripherals::nextion::Nextion;

use crate::peripherals::ErrCommand;
#[panic_handler]
fn panic(_: &core::panic::PanicInfo) -> ! {
    rprintln!("PANIC!");
    loop {}
}
use alloc::format;
//
static EMERGENCY_BUTTON: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
extern crate alloc;
//target RPM
const DEFAULT_TARGET_RPM: u32 = 2000;
//in seconds
const DEFAULT_SPIN_TIME: u32 = 10;
// This creates a default app-descriptor required by the esp-idf bootloader.
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
esp_bootloader_esp_idf::esp_app_desc!();

#[main]
fn main() -> ! {
    // generator version: 1.0.1

    rtt_target::rtt_init_print!();

    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
    let peripherals = esp_hal::init(config);
    let system = peripherals.SYSTEM;
    let mut delay = Delay::new();

    esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
    let clock_config =
        esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
    let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
    mcpwm.operator0.set_timer(&mcpwm.timer0);

    let mut pwm_pin = mcpwm
        .operator0
        .with_pin_a(peripherals.GPIO18, PwmPinConfig::UP_ACTIVE_HIGH);
    let timer_clock_cfg = clock_config
        .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
        .unwrap();
    mcpwm.timer0.start(timer_clock_cfg);
    // let mut esc = AfroEsc::new(&mut pwm_pin);
    // esc.set_timestamp(1000);
    // delay.delay_millis(3000);
    // esc.set_duty_percent(10);
    // delay.delay_millis(3000);
    //1421 is I think the best, makes calculating the throttle easier
    // esc.set_timestamp(1055);
    // delay.delay_millis(3000);
    //gpio 9 is the button
    let input_config = InputConfig::default().with_pull(esp_hal::gpio::Pull::Up);
    use crate::peripherals::Command;
    //let emergency_button = peripherals.GPIO9;
    let mut emergency_button = Input::new(peripherals.GPIO9, input_config);
    critical_section::with(|cs| {
        emergency_button.listen(Event::FallingEdge);
        EMERGENCY_BUTTON
            .borrow_ref_mut(cs)
            .replace(emergency_button)
    });
    let mut io = esp_hal::gpio::Io::new(peripherals.IO_MUX);
    io.set_interrupt_handler(handler);
    let mut uart0 = Uart::new(
        peripherals.UART0,
        Config::default()
            .with_baudrate(115200)
            .with_data_bits(esp_hal::uart::DataBits::_8)
            .with_stop_bits(esp_hal::uart::StopBits::_1)
            .with_parity(esp_hal::uart::Parity::None),
    )
    .unwrap()
    .with_rx(peripherals.GPIO5)
    .with_tx(peripherals.GPIO7);
    let mut display = Nextion::new(&mut uart0);

    display.send_command(b"page page0");
    let mut rpm = DEFAULT_TARGET_RPM;
    let mut timer = DEFAULT_SPIN_TIME;
    let mut started = false;
    loop {
        if display.read_ready() {
            match display.read_command() {
                    Ok(Command::CommandSuccess) => {
                        rprintln!("COMMAND SUCCESSFULLY executed");
                    }
                    Ok(Command::Start) => {
                        rprintln!("START");
                        started = true;
                    },
                    Ok(Command::Stop) => {
                        rprintln!("STOP");
                        started = false;
                        // spincoater.stop();
                    },
                    Ok(Command::SetRpm(x)) => {
                        rprintln!("SET_RPM with {}", x);
                        rpm = x;
                    },
                    Ok(Command::SetTimer(x)) => {
                        rprintln!("SETTING TIMER {}", x);
                        timer = x;
                    },
                    Ok(Command::SendConfig) => {
                        rprintln!("SEND CONFIG");
                        let command = format!("rpm.val={}",DEFAULT_TARGET_RPM);
                        display.send_command(command.to_string().as_bytes());
                    },
                Err(ErrCommand::NoValidCmd) => {
                    rprintln!(" NOT A VALID CMD!");
                },
                Err(ErrCommand::ReadError) =>{
                    rprintln!("READ FAILED!");
                }
            }
            // display.send_command(b"page page0");
        }
        if started {
            // spincoater.armed();
            rprintln!("STARTING!")
        }
        //display.send_command(b"page page0");
        //uart0.write(b"page page0\xff\xff\xff");
    }
    // Example: Ramp from 0% to 50% throttle
    //the afro esc starts turning at roughly setup gets a PWM at
    //loop{
    //     for pulse in 1120..1500 {
    //         rprintln!("pulse:{}",pulse);
    //         pwm_pin.set_timestamp(pulse);
    //         Timer::after_millis(3000).await;
    //     }

    //     Timer::after_millis(1000).await;

    //     // Return to idle
    //     pwm_pin.set_timestamp(1000);
    //     Timer::after_millis(1000).await;
    // }

    loop {
        rprintln!("Hello world!");
        delay.delay_millis(3000);
    }

    // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin
}

#[handler]
// #[ram]
fn handler() {
    critical_section::with(|cs| {
        let mut binding = EMERGENCY_BUTTON.borrow_ref_mut(cs);
        let mut button = binding.as_mut().unwrap();
        if button.is_interrupt_set() {
            // do the thing
            rprintln!("BUTTON1 WAS PRESSED!");
            button.clear_interrupt();
            return;
        }
    });
}