#![no_std]
#![no_main]
#![feature(type_alias_impl_trait, async_fn_in_trait)]

use core::cell::Cell;

use cortex_m::prelude::_embedded_hal_blocking_delay_DelayUs;
use {defmt_rtt as _, panic_probe as _};

use {embassy_executor as executor, embassy_stm32 as stm32};

use ads1256::standard::input::SingleEnded;
use ads1256::{
    AdControl, Ads1256, AutoCal, BitOrder, Buffer, ClockOut, Config, DState, DataRate, DigitalIo,
    DigitalIoDirection, DigitalIoState, Gain, Multiplexer, MuxInput, Sdcs, Status,
};
use embassy_time::{Delay, Duration, Timer};
use executor::Spawner;
use stm32::dma::NoDma;
use stm32::exti::ExtiInput;
use stm32::gpio::{Input, Level, Output, Pull, Speed};
use stm32::spi::Spi;
use stm32::time::Hertz;
use stm32::{pac, spi};

use uom::si::electric_potential::volt;
use uom::si::f32;

use defmt::info;
use embassy_executor::_export::StaticCell;
use embassy_stm32::peripherals::{EXTI6, PF6, PF7, SPI3};
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_sync::pubsub::PubSubChannel;
use physical_ads1256::standard::multiplexer::poll::{
    AutocalPoll, AutocalPollStatePub, ModInputOnly,
};
use physical_node::transducer::input::Poll;
use physical_node::transducer::{Publish, Publisher, StatefulPublisher};

const AUTOCAL_CONF: Config = Config {
    status: Status::setting(Buffer::Enabled, AutoCal::Enabled, BitOrder::MostSigFirst),
    multiplexer: Multiplexer::setting(MuxInput::AIn0, MuxInput::Common),
    ad_control: AdControl::setting(Gain::X2, Sdcs::Off, ClockOut::Off),
    data_rate: DataRate::Sps2_5,
    digital_io: DigitalIo::setting(DigitalIoState::default(), DigitalIoDirection::default()),
};

struct Ads1256Delay;

impl ads1256::BlockingDelay for Ads1256Delay {
    #[inline]
    fn t6_delay(&mut self) {
        Delay.delay_us(1u32);
    }

    fn t11_1_delay(&mut self) {}

    fn t11_2_delay(&mut self) {}
}

type ExampleInput = AutocalPollStatePub<
    'static,
    NoopRawMutex,
    NoopRawMutex,
    ModInputOnly,
    Ads1256Delay,
    Output<'static, PF7>,
    ExtiInput<'static, PF6>,
    Spi<'static, SPI3, NoDma, NoDma>,
    10,
    1,
>;

struct Inputs {
    ai1: ExampleInput,
    ai2: ExampleInput,
    ai3: ExampleInput,
}

// Inputs
static ANALOG_INPUTS: StaticCell<Inputs> = StaticCell::new();
static ADS_1256: StaticCell<
    Mutex<NoopRawMutex, Ads1256<Ads1256Delay, Output<PF7>, ExtiInput<PF6>>>,
> = StaticCell::new();
static SPI: StaticCell<Mutex<NoopRawMutex, Spi<SPI3, NoDma, NoDma>>> = StaticCell::new();

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    unsafe {
        pac::FLASH.acr().modify(|v| {
            v.set_prften(true);
            v.set_icen(true);
            v.set_dcen(true);
        });
    }

    let p = embassy_stm32::init(Default::default());

    let mut spi_conf = spi::Config::default();
    spi_conf.mode = spi::MODE_1;
    spi_conf.bit_order = spi::BitOrder::MsbFirst;

    let ads1256_data_ready = ExtiInput::new(Input::new(p.PF6, Pull::Up), p.EXTI6);
    let select_ads1256 = Output::new(p.PF7, Level::High, Speed::VeryHigh);

    let spi = SPI.init(Mutex::new(Spi::new(
        p.SPI3,
        p.PC10,
        p.PC12,
        p.PC11,
        NoDma,
        NoDma,
        Hertz(ads1256::defaults::SPI_CLK_HZ),
        spi_conf,
    )));

    let ads_1256 =
        ADS_1256.init(Mutex::new(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready)));

    ads_1256
        .get_mut()
        .write_config(spi.get_mut(), AUTOCAL_CONF)
        .unwrap();

    let inputs = &*ANALOG_INPUTS.init(Inputs {
        ai1: AutocalPollStatePub {
            poll: AutocalPoll::new(
                ModInputOnly {
                    gain: Gain::X2,
                    multiplexer: SingleEnded::AIn1.into(),
                },
                ads_1256,
                spi,
            ),
            publisher: PubSubChannel::new().into(),
            state: Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
        },
        ai2: AutocalPollStatePub {
            poll: AutocalPoll::new(
                ModInputOnly {
                    gain: Gain::X2,
                    multiplexer: SingleEnded::AIn2.into(),
                },
                ads_1256,
                spi,
            ),
            publisher: PubSubChannel::new().into(),
            state: Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
        },
        ai3: AutocalPollStatePub {
            poll: AutocalPoll::new(
                ModInputOnly {
                    gain: Gain::X2,
                    multiplexer: SingleEnded::AIn3.into(),
                },
                ads_1256,
                spi,
            ),
            publisher: PubSubChannel::new().into(),
            state: Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
        },
    });
    spawner.spawn(log_task(&inputs.ai1, 1)).unwrap();
    spawner.spawn(log_task(&inputs.ai2, 2)).unwrap();
    spawner.spawn(log_task(&inputs.ai3, 3)).unwrap();
    spawner
        .spawn(poll_task(&inputs.ai1, 1, Duration::from_secs(5)))
        .unwrap();
    spawner
        .spawn(poll_task(&inputs.ai2, 2, Duration::from_secs(10)))
        .unwrap();
    spawner
        .spawn(poll_task(&inputs.ai3, 3, Duration::from_secs(20)))
        .unwrap();
}

#[embassy_executor::task(pool_size = 3)]
async fn poll_task(input: &'static ExampleInput, input_num: u8, every: Duration) {
    loop {
        Timer::after(every).await;
        let result = input.poll().await.unwrap().get::<volt>();
        info!("ai{} poll result: {} volts", input_num, result);
    }
}

#[embassy_executor::task(pool_size = 3)]
async fn log_task(input: &'static ExampleInput, input_num: u8) {
    let mut subscriber = input.subscribe().unwrap();
    loop {
        let msg = subscriber.next_message_pure().await.get::<volt>();
        info!("Log task ai{}: {}", input_num, msg);
    }
}