//
// Created by cfif on 05.05.23.
//
#include "MainModesArbiter_Private.h"
#include "stdio.h"
#include "fc7xxx_driver_rgm.h"
#include "HVAC_model.h"
#include "LinActuatorWork.h"
#include "StatusError.h"
#include "ADC_Temp.h"


const char LOG_TASK_ARB[] = "Arb";
#define LOGGER &env->slog.logger

void Mma_Init(
        tMma *env,
        tGpios *gpios,
        tAdcs *adcs,
        tSerialPorts *serialPorts,
        tLinPorts *linPorts,
        tCanPorts *canPorts,
        tStorageOnFlash *flash,
        tPwms *pwms,
        tRtcs *rtcs
) {
    env->gpios = gpios;
    env->serialPorts = serialPorts;
    env->linPorts = linPorts;
    env->canPorts = canPorts;
    env->rtcs = rtcs;
    env->adcs = adcs;
    env->flash = flash;
    env->pwms = pwms;

    InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
    env->thread.id = 0;
}

void LoadDataInFromModel(tMma *env) {


    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {



        // Включение 5V (1 - ВКЛ)
        GpioPinSet(&env->gpios->power.SW5V_EN, rtY.PowerEnable_Model.SW5V_EN);

        // Контроль напряжения борт-сети (1 - ВКЛ)
        GpioPinSet(&env->gpios->power.PBATT_CK_EN, rtY.PowerEnable_Model.PBATT_CK_EN);

        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Front_EN, rtY.PowerEnable_Model.Incar_Motor_Front_EN);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_EN_Diag, true);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Rear_EN, rtY.PowerEnable_Model.Incar_Motor_Rear_EN);

        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN, rtY.PowerEnable_Model.TwoWayValve_EN);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN_Diag, true);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.ReservePower_EN, rtY.PowerEnable_Model.ReservePower_EN);

        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.EN_ReservePower, rtY.PowerEnable_Model.EN_ReservePower);
        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.EN_PowerReserve, rtY.PowerEnable_Model.EN_PowerReserve);

        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver1_EN, rtY.PowerEnable_Model.PtcRelayDriver1_EN);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver_EN_Diag, true);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver2_EN, rtY.PowerEnable_Model.PtcRelayDriver2_EN);

        GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.LIN_ActPower_AB, rtY.PowerEnable_Model.LIN_ActPower_AB);
        GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.EN_CurrentSensing_AB, true);

        GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.LIN_ActPower_C, rtY.PowerEnable_Model.LIN_ActPower_C);
        GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.EN_CurrentSensing_C, true);

        GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.EN_BATTChiller, rtY.PowerEnable_Model.EN_BATTChiller);


        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffFront_EN, rtY.PowerEnable_Model.ShutOffFront_EN);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOff_EN_Diag, true);
        GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffRear_EN, rtY.PowerEnable_Model.ShutOffRear_EN);

        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV1_EN, rtY.PowerEnable_Model.ShutOffTXV1_EN);
        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV_EN_Diag, true);
        GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV2_EN, rtY.PowerEnable_Model.ShutOffTXV2_EN);


        env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, rtY.PWM_Get_f.pwmPercentFront);
        env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, rtY.PWM_Get_f.pwmPercentRear);
        env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, rtY.PWM_Get_f.pwmPercentFrontReserved);
        env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, rtY.PWM_Get_f.pwmPercentRearReserved);

        PWM_Get.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
        PWM_Get.pwmPercentRear = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
        PWM_Get.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(
                env->pwms->pwmFrontReservedCaptureIO.env);
        PWM_Get.pwmPercentRearReserved = env->pwms->pwmRearCaptureIO.getPwm(
                env->pwms->pwmRearReservedCaptureIO.env);

        set_Dtc_state(&env->Diagnostic);
        set_CanSpamTransmitter(&env->canSpamTransmitter);
        get_CanSpamReceiver(&env->canSpamReceiver);

        set_CanDebugSpamTransmitter(&env->canSpamDebugTransmitter);


        osMutexRelease(env->ModelTask.access);
    }

}

static _Noreturn void Mma_Thread(tMma *env) {

    // Запуск устройства
    Mma_InitStage(env);

    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);

    ModelTask_StartThread(&env->ModelTask);

    while (!env->ModelTask.isRunning) {
        LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Waiting for the model to run...")
        SystemDelayMs(1);
    }

    LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Model running...")

    for (;;) {

//        bool ST_PowerReserve = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.ST_PowerReserve);
//        bool ST_ReservePower = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);

        LoadDataInFromModel(env);


        SystemDelayMs(25);
        GpioPinToggle(&env->gpios->led.LED_G);
        SystemDelayMs(25);


    }
}


void Mma_StartThread(tMma *env) {
    if (!env->thread.id) {
        env->thread.id = osThreadNew((osThreadFunc_t) (Mma_Thread), (void *) (env), &env->thread.attr);
    } else {
        osThreadResume(env->thread.id);
    }
}