use crate::hal::rtc::RTCModuleInteraction;
use crate::hal::water::TankSensor;
use crate::hal::{
    deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT,
};
use crate::log::{log, LogMessage};
use crate::{
    config::PlantControllerConfig,
    hal::{battery::BatteryInteraction, esp::Esp},
};
use anyhow::{bail, Ok, Result};
use embedded_hal::digital::OutputPin;
use measurements::{Current, Voltage};
use plant_ctrl2::sipo::ShiftRegister40;
use core::result::Result::Ok as OkStd;
use alloc::string::ToString;
use alloc::boxed::Box;
use esp_hall::gpio::Pull;

const PUMP8_BIT: usize = 0;
const PUMP1_BIT: usize = 1;
const PUMP2_BIT: usize = 2;
const PUMP3_BIT: usize = 3;
const PUMP4_BIT: usize = 4;
const PUMP5_BIT: usize = 5;
const PUMP6_BIT: usize = 6;
const PUMP7_BIT: usize = 7;
const MS_0: usize = 8;
const MS_4: usize = 9;
const MS_2: usize = 10;
const MS_3: usize = 11;
const MS_1: usize = 13;
const SENSOR_ON: usize = 12;

const SENSOR_A_1: u8 = 7;
const SENSOR_A_2: u8 = 6;
const SENSOR_A_3: u8 = 5;
const SENSOR_A_4: u8 = 4;
const SENSOR_A_5: u8 = 3;
const SENSOR_A_6: u8 = 2;
const SENSOR_A_7: u8 = 1;
const SENSOR_A_8: u8 = 0;

const SENSOR_B_1: u8 = 8;
const SENSOR_B_2: u8 = 9;
const SENSOR_B_3: u8 = 10;
const SENSOR_B_4: u8 = 11;
const SENSOR_B_5: u8 = 12;
const SENSOR_B_6: u8 = 13;
const SENSOR_B_7: u8 = 14;
const SENSOR_B_8: u8 = 15;

const CHARGING: usize = 14;
const AWAKE: usize = 15;

const FAULT_3: usize = 16;
const FAULT_8: usize = 17;
const FAULT_7: usize = 18;
const FAULT_6: usize = 19;
const FAULT_5: usize = 20;
const FAULT_4: usize = 21;
const FAULT_1: usize = 22;
const FAULT_2: usize = 23;

const REPEAT_MOIST_MEASURE: usize = 1;


pub struct V3<'a> {
    config: PlantControllerConfig,
    battery_monitor: Box<dyn BatteryInteraction + Send>,
    rtc_module: Box<dyn RTCModuleInteraction + Send>,
    esp: Esp<'a>,
    shift_register: ShiftRegister40<
        PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
        PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
        PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
    >,
    _shift_register_enable_invert:
        PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Output>,
    tank_sensor: TankSensor<'a>,
    solar_is_day: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Input>,
    light: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
    main_pump: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
    general_fault: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
    signal_counter: PcntDriver<'a>,
}

pub(crate) fn create_v3(
    peripherals: FreePeripherals,
    esp: Esp<'static>,
    config: PlantControllerConfig,
    battery_monitor: Box<dyn BatteryInteraction + Send>,
    rtc_module: Box<dyn RTCModuleInteraction + Send>,
) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
    log::info!("Start v3");
    let mut clock = PinDriver::input_output(peripherals.gpio15.downgrade())?;
    clock.set_pull(Pull::Floating)?;
    let mut latch = PinDriver::input_output(peripherals.gpio3.downgrade())?;
    latch.set_pull(Pull::Floating)?;
    let mut data = PinDriver::input_output(peripherals.gpio23.downgrade())?;
    data.set_pull(Pull::Floating)?;
    let shift_register = ShiftRegister40::new(clock, latch, data);
    //disable all
    for mut pin in shift_register.decompose() {
        pin.set_low()?;
    }

    let awake = &mut shift_register.decompose()[AWAKE];
    awake.set_high()?;

    let charging = &mut shift_register.decompose()[CHARGING];
    charging.set_high()?;

    let ms0 = &mut shift_register.decompose()[MS_0];
    ms0.set_low()?;
    let ms1 = &mut shift_register.decompose()[MS_1];
    ms1.set_low()?;
    let ms2 = &mut shift_register.decompose()[MS_2];
    ms2.set_low()?;
    let ms3 = &mut shift_register.decompose()[MS_3];
    ms3.set_low()?;

    let ms4 = &mut shift_register.decompose()[MS_4];
    ms4.set_high()?;

    let one_wire_pin = peripherals.gpio18.downgrade();
    let tank_power_pin = peripherals.gpio11.downgrade();

    let flow_sensor_pin = peripherals.gpio4.downgrade();

    let tank_sensor = TankSensor::create(
        one_wire_pin,
        peripherals.adc1,
        peripherals.gpio5,
        tank_power_pin,
        flow_sensor_pin,
        peripherals.pcnt1,
    )?;

    let mut signal_counter = PcntDriver::new(
        peripherals.pcnt0,
        Some(peripherals.gpio22),
        Option::<AnyInputPin>::None,
        Option::<AnyInputPin>::None,
        Option::<AnyInputPin>::None,
    )?;

    signal_counter.channel_config(
        PcntChannel::Channel0,
        PinIndex::Pin0,
        PinIndex::Pin1,
        &PcntChannelConfig {
            lctrl_mode: PcntControlMode::Keep,
            hctrl_mode: PcntControlMode::Keep,
            pos_mode: PcntCountMode::Increment,
            neg_mode: PcntCountMode::Hold,
            counter_h_lim: i16::MAX,
            counter_l_lim: 0,
        },
    )?;

    let mut solar_is_day = PinDriver::input(peripherals.gpio7.downgrade())?;
    solar_is_day.set_pull(Pull::Floating)?;

    let mut light = PinDriver::input_output(peripherals.gpio10.downgrade())?;
    light.set_pull(Pull::Floating)?;

    let mut main_pump = PinDriver::input_output(peripherals.gpio2.downgrade())?;
    main_pump.set_pull(Pull::Floating)?;
    main_pump.set_low()?;

    let mut general_fault = PinDriver::input_output(peripherals.gpio6.downgrade())?;
    general_fault.set_pull(Pull::Floating)?;
    general_fault.set_low()?;

    let mut shift_register_enable_invert = PinDriver::output(peripherals.gpio21.downgrade())?;

    unsafe { gpio_hold_dis(shift_register_enable_invert.pin()) };
    shift_register_enable_invert.set_low()?;
    unsafe { gpio_hold_en(shift_register_enable_invert.pin()) };

    Ok(Box::new(V3 {
        config,
        battery_monitor,
        rtc_module,
        esp,
        shift_register,
        _shift_register_enable_invert: shift_register_enable_invert,
        tank_sensor,
        solar_is_day,
        light,
        main_pump,
        general_fault,
        signal_counter,
    }))
}

impl<'a> BoardInteraction<'a> for V3<'a> {
    fn get_tank_sensor(&mut self) -> Option<&mut TankSensor<'a>> {
        Some(&mut self.tank_sensor)
    }

    fn get_esp(&mut self) -> &mut Esp<'a> {
        &mut self.esp
    }

    fn get_config(&mut self) -> &PlantControllerConfig {
        &self.config
    }

    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send + 'static> {
        &mut self.battery_monitor
    }

    fn get_rtc_module(&mut self) -> &mut Box<dyn RTCModuleInteraction + Send> {
        &mut self.rtc_module
    }
    fn set_charge_indicator(&mut self, charging: bool) -> Result<()> {
        Ok(self.shift_register.decompose()[CHARGING].set_state(charging.into())?)
    }

    fn deep_sleep(&mut self, duration_in_ms: u64) -> ! {
        let _ = self.shift_register.decompose()[AWAKE].set_low();
        deep_sleep(duration_in_ms)
    }

    fn is_day(&self) -> bool {
        self.solar_is_day.get_level().into()
    }

    fn light(&mut self, enable: bool) -> Result<()> {
        unsafe { gpio_hold_dis(self.light.pin()) };
        self.light.set_state(enable.into())?;
        unsafe { gpio_hold_en(self.light.pin()) };
        Ok(())
    }
    fn pump(&mut self, plant: usize, enable: bool) -> Result<()> {
        if enable {
            self.main_pump.set_high()?;
        }

        let index = match plant {
            0 => PUMP1_BIT,
            1 => PUMP2_BIT,
            2 => PUMP3_BIT,
            3 => PUMP4_BIT,
            4 => PUMP5_BIT,
            5 => PUMP6_BIT,
            6 => PUMP7_BIT,
            7 => PUMP8_BIT,
            _ => bail!("Invalid pump {plant}",),
        };
        self.shift_register.decompose()[index].set_state(enable.into())?;

        if !enable {
            self.main_pump.set_low()?;
        }
        Ok(())
    }

    fn pump_current(&mut self, _plant: usize) -> Result<Current> {
        bail!("Not implemented in v3")
    }

    fn fault(&mut self, plant: usize, enable: bool) -> Result<()> {
        let index = match plant {
            0 => FAULT_1,
            1 => FAULT_2,
            2 => FAULT_3,
            3 => FAULT_4,
            4 => FAULT_5,
            5 => FAULT_6,
            6 => FAULT_7,
            7 => FAULT_8,
            _ => panic!("Invalid plant id {}", plant),
        };
        self.shift_register.decompose()[index].set_state(enable.into())?;
        Ok(())
    }

    fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32> {
        let mut results = [0_f32; REPEAT_MOIST_MEASURE];
        for repeat in 0..REPEAT_MOIST_MEASURE {
            self.signal_counter.counter_pause()?;
            self.signal_counter.counter_clear()?;
            //Disable all
            self.shift_register.decompose()[MS_4].set_high()?;

            let sensor_channel = match sensor {
                Sensor::A => match plant {
                    0 => SENSOR_A_1,
                    1 => SENSOR_A_2,
                    2 => SENSOR_A_3,
                    3 => SENSOR_A_4,
                    4 => SENSOR_A_5,
                    5 => SENSOR_A_6,
                    6 => SENSOR_A_7,
                    7 => SENSOR_A_8,
                    _ => bail!("Invalid plant id {}", plant),
                },
                Sensor::B => match plant {
                    0 => SENSOR_B_1,
                    1 => SENSOR_B_2,
                    2 => SENSOR_B_3,
                    3 => SENSOR_B_4,
                    4 => SENSOR_B_5,
                    5 => SENSOR_B_6,
                    6 => SENSOR_B_7,
                    7 => SENSOR_B_8,
                    _ => bail!("Invalid plant id {}", plant),
                },
            };

            let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
            let pin_0 = &mut self.shift_register.decompose()[MS_0];
            let pin_1 = &mut self.shift_register.decompose()[MS_1];
            let pin_2 = &mut self.shift_register.decompose()[MS_2];
            let pin_3 = &mut self.shift_register.decompose()[MS_3];
            if is_bit_set(0) {
                pin_0.set_high()?;
            } else {
                pin_0.set_low()?;
            }
            if is_bit_set(1) {
                pin_1.set_high()?;
            } else {
                pin_1.set_low()?;
            }
            if is_bit_set(2) {
                pin_2.set_high()?;
            } else {
                pin_2.set_low()?;
            }
            if is_bit_set(3) {
                pin_3.set_high()?;
            } else {
                pin_3.set_low()?;
            }

            self.shift_register.decompose()[MS_4].set_low()?;
            self.shift_register.decompose()[SENSOR_ON].set_high()?;

            let measurement = 100; //how long to measure and then extrapolate to hz
            let factor = 1000f32 / measurement as f32; //scale raw cound by this number to get hz

            //give some time to stabilize
            self.esp.delay.delay_ms(10);
            self.signal_counter.counter_resume()?;
            self.esp.delay.delay_ms(measurement);
            self.signal_counter.counter_pause()?;
            self.shift_register.decompose()[MS_4].set_high()?;
            self.shift_register.decompose()[SENSOR_ON].set_low()?;
            self.esp.delay.delay_ms(10);
            let unscaled = self.signal_counter.get_counter_value()? as i32;
            let hz = unscaled as f32 * factor;
            log(
                LogMessage::RawMeasure,
                unscaled as u32,
                hz as u32,
                &plant.to_string(),
                &format!("{sensor:?}"),
            );
            results[repeat] = hz;
        }
        results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord

        let mid = results.len() / 2;
        let median = results[mid];
        Ok(median)
    }

    fn general_fault(&mut self, enable: bool) {
        unsafe { gpio_hold_dis(self.general_fault.pin()) };
        self.general_fault.set_state(enable.into()).unwrap();
        unsafe { gpio_hold_en(self.general_fault.pin()) };
    }

    fn test(&mut self) -> Result<()> {
        self.general_fault(true);
        self.esp.delay.delay_ms(100);
        self.general_fault(false);
        self.esp.delay.delay_ms(100);
        self.light(true)?;
        self.esp.delay.delay_ms(500);
        self.light(false)?;
        self.esp.delay.delay_ms(500);
        for i in 0..PLANT_COUNT {
            self.fault(i, true)?;
            self.esp.delay.delay_ms(500);
            self.fault(i, false)?;
            self.esp.delay.delay_ms(500);
        }
        for i in 0..PLANT_COUNT {
            self.pump(i, true)?;
            self.esp.delay.delay_ms(100);
            self.pump(i, false)?;
            self.esp.delay.delay_ms(100);
        }
        for plant in 0..PLANT_COUNT {
            let a = self.measure_moisture_hz(plant, Sensor::A);
            let b = self.measure_moisture_hz(plant, Sensor::B);
            let aa = match a {
                OkStd(a) => a as u32,
                Err(_) => u32::MAX,
            };
            let bb = match b {
                OkStd(b) => b as u32,
                Err(_) => u32::MAX,
            };
            log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "");
        }
        self.esp.delay.delay_ms(10);
        Ok(())
    }

    fn set_config(&mut self, config: PlantControllerConfig) -> Result<()> {
        self.config = config;
        self.esp.save_config(&self.config)?;
        anyhow::Ok(())
    }

    fn get_mptt_voltage(&mut self) -> Result<Voltage> {
        //assuming module to work, these are the hardware set values
        if self.is_day() {
            Ok(Voltage::from_volts(15_f64))
        } else {
            Ok(Voltage::from_volts(0_f64))
        }
    }

    fn get_mptt_current(&mut self) -> Result<Current> {
        bail!("Board does not have current sensor")
    }
}