//
// Created by cfif on 05.05.23.
//
#include "MainModesArbiter_Private.h"
#include "stdio.h"
#include "fc7xxx_driver_rgm.h"
#include "Model_actuator.h"

#include "ADC_Temp_Table.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;
}


//uint8_t dataR[1024 * 2];


void LoadDataInFromModel(tMma *env) {
    int16_t temp1 = 0;
    int16_t temp2 = 0;

    if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
        temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);

        env->rtDW.controllerDataIncarInput.InIncarFL = env->adcTask0.ADC_Data[0];

        osMutexRelease(env->adcTask0.access);
        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
    }

    if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
        temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);

        env->rtDW.controllerDataIncarInput.InIncarFR = env->adcTask1.ADC_Data[0];

        osMutexRelease(env->adcTask1.access);
        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
    }

    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
        rtDW.t_now = GetSystemTick();
        memcpy(&rtDW.controllerDataIncarInput, &env->rtDW, sizeof(env->rtDW));

        if (env->ModelTask.isUpdate) {
            env->ModelTask.isUpdate = false;


            //bool IncarFLErr;
            //bool IncarFRErr;
            //bool IncarRLErr;
            //bool IncarRRErr;


            env->CCU_Errors.CCU_IncarTempErrF_Stat = 0; // CANIncarTempErrF
            env->CCU_Errors.CCU_IncarTempErrR_Stat = 0; // CANIncarTempErrR
            set_CCU_Errors(&env->canSpamTransmitter, &env->CCU_Errors);

        }

        osMutexRelease(env->ModelTask.access);
    }
}

static _Noreturn void Mma_Thread(tMma *env) {

    // Инициализация периферийных интерфейсов
    InitPeripheralInterfaces();

    // Запуск устройства
    Mma_InitStage(env);

    can_rx_message_type frame_data;

    uint32_t step = 0;


    if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
        LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
    }

    SystemDelayMs(1000);

    LoadDataInFromModel(env);

    ModelTask_StartThread(&env->ModelTask);


/*
    for (;;) {
        uint16_t len = SerialPortReceive(&env->serialPorts->SerialPortLog_IO, dataR, 1024, 1000);

        if (len != 0) {
            SerialPortTransmit(&env->serialPorts->SerialPortLog_IO, dataR, len, 1000);
        }
    }
*/


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

    for (;;) {
/*
        env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 77);
        SystemDelayMs(10);
        uint8_t pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)

        env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 22);
        SystemDelayMs(10);
        pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)

*/

        LoadDataInFromModel(env);


/*
        LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Zorro...")
        printf("Test Test Test Test Test Test Test Test Test Test XA XA ...\n");

        GpioPinToggle(&env->gpios->led.LED1);

        SystemDelayMs(500);
*/

/*
        if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
        } else {
            SMC_SetSystemMode(SMC_MODE_STANBY_3);
        }
*/

/*
        if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
            temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
            osMutexRelease(env->adcTask0.access);
            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
        }


        if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
            temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
            osMutexRelease(env->adcTask1.access);
            LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
        }
*/

/*
        if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {

            if ((env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_SUCCESSFUL) ||
                (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE)) {
                busy = true;
            }

            if (busy == true) {
                busy = false;

                switch (step) {
                    case 0: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
                        ++step;

                        break;
                    }
                    case 1: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                        ++step;

                        break;
                    }
                    case 2: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
                        ++step;

                        break;
                    }
                    case 3: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;

                        ++step;

                        break;
                    }

                    case 4: {
                        SystemDelayMs(10000);
                        asm("nop");
                        ++step;
                        //if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
                        //    ++step;
                        //}
                        break;
                    }

                    case 5: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
                        ++step;

                        break;
                    }

                    case 6: {

                        resetStall(&env->linTaskActuator0);

                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;

                        ++step;

                        break;
                    }

                    case 7: {
                        SystemDelayMs(10000);
                        asm("nop");
                        ++step;

                        //if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
                        //    ++step;
                        //}
                        break;
                    }

                    case 8: {
                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
                            ++step;
                        }
                        break;
                    }

                    default: {
                    }
                }
            }
            osMutexRelease(env->linTaskActuator0.access);
        }

        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Step = %d", step)
*/





/*
        uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

        if (len > 0) {

            if (frame_data.id_type == FLEXCAN_ID_STD) {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_STD);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.standard_id);
            } else {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_EXT);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.extended_id);
            }


            env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 1000);
        }
*/

        SystemDelayMs(10);
    }
}


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);
    }
}