#![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_DelayMs, _embedded_hal_blocking_delay_DelayUs,
};
use {defmt_rtt as _, panic_probe as _};

use {embassy_executor as executor, embassy_stm32 as stm32};

use ads1256::{
    AdControl, Ads1256, AutoCal, BitOrder, BlockingDelay, Buffer, ClockOut, Config, DState,
    DataRate, DigitalIo, DigitalIoDirection, DigitalIoState, DioDirection, Gain, Multiplexer,
    MuxInput, OutputPin, Sdcs, SpiBus, Status, Wait,
};
use ads1256::standard::input::SingleEnded;
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::{debug, error, info, trace, unwrap};
use embassy_executor::_export::StaticCell;
use embassy_stm32::peripherals::{EXTI6, PF6, PF7, SPI3};
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::pubsub::PubSubChannel;
use physical_node::transducer::{Publish, 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) {}
}

struct Inputs {
    ai1: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
    ai2: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
    ai3: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
}

// Inputs
static ANALOG_INPUTS: StaticCell<Inputs> = StaticCell::new();
static ADS_1256: StaticCell<Ads1256<Ads1256Delay, Output<PF7>, ExtiInput<PF6>>> = StaticCell::new();
static SPI: StaticCell<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(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(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready));

    let inputs = &*ANALOG_INPUTS.init(Inputs {
        ai1: StatefulPublisher::new(
            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
            PubSubChannel::new().into(),
        ),
        ai2: StatefulPublisher::new(
            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
            PubSubChannel::new().into(),
        ),
        ai3: StatefulPublisher::new(
            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
            PubSubChannel::new().into(),
        ),
    });

    spawner.spawn(log_task(inputs)).unwrap();
    spawner
        .spawn(drive_inputs_task(ads_1256, spi, inputs))
        .unwrap();
}

#[embassy_executor::task]
async fn drive_inputs_task(
    ads_1256: &'static mut Ads1256<Ads1256Delay, Output<'static, PF7>, ExtiInput<'static, PF6>>,
    spi: &'static mut Spi<'static, SPI3, NoDma, NoDma>,
    inputs: &'static Inputs,
) {
    let Inputs { ai1, ai2, ai3 } = inputs;

    loop {
        let mut accumulator = f32::ElectricPotential::new::<volt>(0.0);

        let voltage = ads_1256
            .autocal_convert(spi, SingleEnded::AIn0.into(), None, None, None, false)
            .await
            .unwrap()
            .to_voltage(AUTOCAL_CONF.ad_control.gain());
        ai1.update(voltage);
        accumulator += voltage;

        let voltage = ads_1256
            .autocal_convert(spi, SingleEnded::AIn1.into(), None, None, None, false)
            .await
            .unwrap()
            .to_voltage(AUTOCAL_CONF.ad_control.gain());
        ai2.update(voltage);
        accumulator += voltage;

        let voltage = ads_1256
            .autocal_convert(spi, SingleEnded::AIn2.into(), None, None, None, false)
            .await
            .unwrap()
            .to_voltage(AUTOCAL_CONF.ad_control.gain());
        ai3.update(voltage);
        accumulator += voltage;

        let accum_volts = accumulator.get::<volt>();
        info!("Immediate loop iteration result, combined volts: {}", accum_volts);
    }
}

#[embassy_executor::task]
async fn log_task(inputs: &'static Inputs) {
    let Inputs { ai1, ai2, ai3 } = inputs;
    let mut ai1_sub = ai1.subscribe().unwrap();
    let mut ai2_sub = ai2.subscribe().unwrap();
    let mut ai3_sub = ai3.subscribe().unwrap();

    loop {
        let msg = ai1_sub.next_message_pure().await.get::<volt>();
        info!("Log task ai1: {}", msg);

        let msg = ai2_sub.next_message_pure().await.get::<volt>();
        info!("Log task ai2: {}", msg);

        let msg = ai3_sub.next_message_pure().await.get::<volt>();
        info!("Log task ai3: {}", msg);
    }
}