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

#include <driver/ledc.h>
#include "actuators.h"
#include "settings.h"

struct actuators_status gAct = {
        .blind = false,
        .dir = MOTOR_DIR_IN,
        .power = 0,
};

static void buzzer_init() {
    ledc_timer_config_t ledc_timer = {
            .duty_resolution = LEDC_TIMER_8_BIT, // resolution of PWM duty
            .freq_hz = 4400,                      // frequency of PWM signal
            .speed_mode = LEDC_HIGH_SPEED_MODE,           // timer mode
            .timer_num = LEDC_TIMER_0,            // timer index
            .clk_cfg = LEDC_AUTO_CLK,              // Auto select the source clock
    };
    // Set configuration of timer0 for high speed channels
    ledc_timer_config(&ledc_timer);

    ledc_channel_config_t chan = {
            .channel    = LEDC_CHANNEL_0,
            .duty       = 127,
            .gpio_num   = CONFIG_PIN_BUZZER,
            .speed_mode = LEDC_HIGH_SPEED_MODE,
            .hpoint     = 0,
            .timer_sel  = LEDC_TIMER_0
    };
    ledc_channel_config(&chan);
}

void act_buzzer_set(bool on) {
    gAct.buzzer = on;
    if (on) {
        ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0, 127);
        ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0);
    } else {
        ledc_stop(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_0, 0);
    }
}

static void motor_init() {
    ledc_timer_config_t ledc_timer = {
            .duty_resolution = LEDC_TIMER_10_BIT, // resolution of PWM duty
            .freq_hz = 1000,                      // frequency of PWM signal
            .speed_mode = LEDC_HIGH_SPEED_MODE,           // timer mode
            .timer_num = LEDC_TIMER_1,            // timer index
            .clk_cfg = LEDC_AUTO_CLK,              // Auto select the source clock
    };
    // Set configuration of timer1 for high speed channels
    ledc_timer_config(&ledc_timer);

    // 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_0,
            .flags.output_invert = true,
    };
    ledc_channel_config(&chan);

    // Direction output
    gpio_config_t ioconf = {
            .mode = GPIO_MODE_OUTPUT,
            .pin_bit_mask = 1 << CONFIG_PIN_DIR,
    };
    gpio_config(&ioconf);
}

void act_motor_power_set(uint16_t perc) {
    if (perc > 0) {
        if (perc < gSettings.min_power) {
            perc = gSettings.min_power;
        }
        gAct.power = perc;
        uint16_t duty = (uint16_t) (10.23f * (float)perc);
        if (duty > 1023) {
            duty = 1023;
        }
        ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, duty);
        ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1);
    } else {
        ledc_stop(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
    }
}

void act_motor_direction_set(enum motor_direction dir) {
    gAct.dir = dir;
    gpio_set_level(CONFIG_PIN_DIR, (int) dir); // TODO verify polarity
}

static void blind_init() {
    // Blind output
    gpio_config_t ioconf = {
            .mode = GPIO_MODE_OUTPUT,
            .pin_bit_mask = 1 << CONFIG_PIN_BLIND,
    };
    gpio_config(&ioconf);
}

void act_blind_set(bool open) {
    gAct.blind = open;
    gpio_set_level(CONFIG_PIN_BLIND, (int) open); // TODO verify polarity
}

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

void act_led_set(bool on) {
    gAct.led = on;
    gpio_set_level(CONFIG_PIN_LED, (int) on); // TODO verify polarity
}

void act_init() {
    buzzer_init();
    motor_init();
    blind_init();
    led_init();
}