//
// Created by MightyPork on 2022/08/20.
//

#include <driver/ledc.h>
#include <esp_log.h>
#include <driver/adc.h>
#include <esp_adc_cal.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include "freertos/queue.h"
#include "actuators.h"
#include "tasks.h"
#include "settings.h"

static const char *TAG="act";

// TODO move these to settings and make them accessible via modbus
uint32_t pwm_freq = 3000;
uint32_t pwm_duty = 600;
uint32_t pwm_thres = 850;
uint32_t pwm_on = 1;
uint32_t last_adc_mv = 0;
uint32_t tick_count = 0;
uint32_t tick_count_start = 0;
uint32_t last_cpm = 0;
uint32_t count_total = 0;
float last_usv_h = 0.0f;
float total_usv = 0.0f;

static xQueueHandle gpio_evt_queue = NULL;

static void IRAM_ATTR gpio_isr_handler(void* arg)
{
    uint32_t gpio_num = (uint32_t) arg;
    xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}

static void TickHandlingTask(void* arg)
{
    uint32_t io_num;
    for(;;) {
        if(xQueueReceive(gpio_evt_queue, &io_num, pdMS_TO_TICKS(20))) {
            printf("TICK! ");
            act_statusled_set(0);
            tick_count++;
            count_total++;
        } else {
            act_statusled_set(1);
        }

        if (tick_count_start == 0) {
            tick_count_start = xTaskGetTickCount();
        } else {
            if (xTaskGetTickCount() - tick_count_start >= pdMS_TO_TICKS(60000)) {
                last_cpm = tick_count;
                tick_count = 0;
                tick_count_start = xTaskGetTickCount();

                // https://sites.google.com/site/diygeigercounter/technical/gm-tubes-supported
                last_usv_h = (float)last_cpm / 153.8f;
                total_usv += (last_usv_h / 60.0f);

                printf("\r\n\r\nCPM = %d ~~ %f uSv/h\r\n\r\n", last_cpm, last_usv_h);
            }
        }
    }
}


void power_task()
{
    while (1) {
        const uint32_t val = act_read_adc();
        act_pwm_set(val <= pwm_thres);
        last_adc_mv = val;
        // basically, just yield
        vTaskDelay(pdMS_TO_TICKS(1));
    }
}

void act_pwm_update_conf()
{
    ledc_timer_config_t ledc_timer = {
            .duty_resolution = LEDC_TIMER_10_BIT,
            .freq_hz = pwm_freq,
            .speed_mode = LEDC_HIGH_SPEED_MODE,
            .timer_num = LEDC_TIMER_1,
            .clk_cfg = LEDC_AUTO_CLK,
    };
    ledc_timer_config(&ledc_timer);
}

static void pwm_init()
{
    act_pwm_update_conf();

    // PWM output
    ledc_channel_config_t chan = {
            .channel    = LEDC_CHANNEL_1,
            .duty       = 512,
            .gpio_num   = CONFIG_PIN_PWM,
            .speed_mode = LEDC_HIGH_SPEED_MODE,
            .hpoint     = 0,
            .timer_sel  = LEDC_TIMER_1,
            .flags.output_invert = false,
    };
    ledc_channel_config(&chan);

    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
    ledc_stop(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
}

void act_pwm_set(bool on)
{
    if (on) {
        pwm_on = 1;
        ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, pwm_duty);
        ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1);
    } else {
        pwm_on = 0;
        ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
        ledc_stop(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
    }
}

static void led_init()
{
    gpio_config_t ioconf = {
            .mode = GPIO_MODE_OUTPUT,
            .pin_bit_mask = (1 << CONFIG_PIN_STATUSLED),
    };
    gpio_config(&ioconf);
}

#define DEFAULT_VREF    1100
#define CHANNEL ADC1_CHANNEL_6 /* 34 */
#define WIDTH ADC_WIDTH_BIT_12
#define ATTEN ADC_ATTEN_DB_0
#define ADCX ADC_UNIT_1

static esp_adc_cal_characteristics_t adc_chars;
static void adc_init() {
    adc1_config_width(WIDTH);
    adc1_config_channel_atten(CHANNEL, ATTEN);
    esp_adc_cal_characterize(ADCX, ATTEN, WIDTH, DEFAULT_VREF, &adc_chars);

    // route vref to GPIO25 so it can be measured
    esp_err_t status = adc_vref_to_gpio(ADC_UNIT_2, GPIO_NUM_25);
    if (status == ESP_OK) {
        printf("v_ref routed to GPIO\n");
    } else {
        printf("failed to route v_ref\n");
    }
}

uint32_t act_read_adc()
{
    uint32_t raw = adc1_get_raw(CHANNEL);
    return esp_adc_cal_raw_to_voltage(raw, &adc_chars);
}

void act_statusled_set(bool on)
{
    gpio_set_level(CONFIG_PIN_STATUSLED, (int) on);
}

static void int_init() {

    gpio_pad_select_gpio(CONFIG_PIN_INT);
    gpio_set_direction(CONFIG_PIN_INT, GPIO_MODE_INPUT);
    gpio_pulldown_en(CONFIG_PIN_INT);
    gpio_pullup_dis(CONFIG_PIN_INT);
    gpio_set_intr_type(CONFIG_PIN_INT, GPIO_INTR_POSEDGE);

    gpio_evt_queue = xQueueCreate(20, sizeof(int));
    xTaskCreate(TickHandlingTask, "ticks", 3000, NULL, PRIO_NORMAL, NULL);
    gpio_isr_handler_add(CONFIG_PIN_INT, gpio_isr_handler, (void *)CONFIG_PIN_INT);
}

void act_init()
{
    pwm_freq = gSettings.pwm_freq;
    pwm_duty = gSettings.pwm_duty;
    pwm_thres = gSettings.pwm_thres;

    led_init();
    pwm_init();
    adc_init();
    act_statusled_set(1); // = off

    xTaskCreate(power_task, "pwr", 3000, NULL, PRIO_HIGH, NULL);
    int_init();
}