use crate::bail;
use crate::fat_error::{FatError, FatResult};
use crate::hal::esp::{hold_disable, hold_enable};
use crate::hal::rtc::RTCModuleInteraction;
use crate::hal::v3_shift_register::ShiftRegister40;
use crate::hal::water::TankSensor;
use crate::hal::{BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT};
use crate::log::{log, LogMessage, LOG_ACCESS};
use crate::{
    config::PlantControllerConfig,
    hal::{battery::BatteryInteraction, esp::Esp},
};
use alloc::boxed::Box;
use alloc::format;
use alloc::string::ToString;
use async_trait::async_trait;
use chrono::{DateTime, FixedOffset, Utc};
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_time::Timer;
use embedded_hal::digital::OutputPin as _;
use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull};
use esp_hal::pcnt::channel::CtrlMode::Keep;
use esp_hal::pcnt::channel::EdgeMode;
use esp_hal::pcnt::channel::EdgeMode::{Hold, Increment};
use esp_hal::pcnt::unit::Unit;
use measurements::{Current, Voltage};

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:
        Mutex<CriticalSectionRawMutex, ShiftRegister40<Output<'a>, Output<'a>, Output<'a>>>,
    _shift_register_enable_invert: Output<'a>,
    tank_sensor: TankSensor<'a>,
    solar_is_day: Input<'a>,
    light: Output<'a>,
    main_pump: Output<'a>,
    general_fault: Output<'a>,
    pub signal_counter: Unit<'static, 0>,
}

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

    // Set always-on status bits
    let _ = shift_register.decompose()[AWAKE].set_high();
    let _ = shift_register.decompose()[CHARGING].set_high();

    // Multiplexer defaults: ms0..ms3 low, ms4 high (disabled)
    let _ = shift_register.decompose()[MS_0].set_low();
    let _ = shift_register.decompose()[MS_1].set_low();
    let _ = shift_register.decompose()[MS_2].set_low();
    let _ = shift_register.decompose()[MS_3].set_low();
    let _ = shift_register.decompose()[MS_4].set_high();

    let one_wire_pin = Flex::new(peripherals.gpio18);
    let tank_power_pin = Output::new(peripherals.gpio11, Level::Low, OutputConfig::default());

    let flow_sensor_pin = Input::new(
        peripherals.gpio4,
        InputConfig::default().with_pull(Pull::Up),
    );

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

    let solar_is_day = Input::new(peripherals.gpio7, InputConfig::default());
    let light = Output::new(peripherals.gpio10, Level::Low, OutputConfig::default());
    let mut main_pump = Output::new(peripherals.gpio2, Level::Low, OutputConfig::default());
    main_pump.set_low();
    let mut general_fault = Output::new(peripherals.gpio6, Level::Low, OutputConfig::default());
    general_fault.set_low();

    hold_disable(21);
    let mut shift_register_enable_invert =
        Output::new(peripherals.gpio21, Level::Low, OutputConfig::default());
    shift_register_enable_invert.set_low();
    hold_enable(21);

    let signal_counter = peripherals.pcnt0;

    signal_counter.set_low_limit(None)?;
    signal_counter.set_high_limit(Some(i16::MAX))?;

    let ch0 = &signal_counter.channel0;
    let edge_pin = Input::new(peripherals.gpio22, InputConfig::default());
    ch0.set_edge_signal(edge_pin.peripheral_input());
    ch0.set_input_mode(Hold, Increment);
    ch0.set_ctrl_mode(Keep, Keep);
    signal_counter.listen();

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

#[async_trait]
impl<'a> BoardInteraction<'a> for V3<'a> {
    fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError> {
        Ok(&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> {
        &mut self.battery_monitor
    }

    fn get_rtc_module(&mut self) -> &mut Box<dyn RTCModuleInteraction + Send> {
        &mut self.rtc_module
    }

    async fn get_time(&mut self) -> DateTime<Utc> {
        self.esp.get_time()
    }

    async fn set_time(&mut self, time: &DateTime<FixedOffset>) -> FatResult<()> {
        self.rtc_module.set_rtc_time(&time.to_utc()).await?;
        self.esp.set_time(time.to_utc());
        Ok(())
    }

    async fn set_charge_indicator(&mut self, charging: bool) -> Result<(), FatError> {
        let shift_register = self.shift_register.lock().await;
        if charging {
            let _ = shift_register.decompose()[CHARGING].set_high();
        } else {
            let _ = shift_register.decompose()[CHARGING].set_low();
        }
        Ok(())
    }

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

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

    async fn light(&mut self, enable: bool) -> Result<(), FatError> {
        hold_disable(10);
        if enable {
            self.light.set_high();
        } else {
            self.light.set_low();
        }
        hold_enable(10);
        Ok(())
    }
    async fn pump(&mut self, plant: usize, enable: bool) -> Result<(), FatError> {
        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}"),
        };
        let shift_register = self.shift_register.lock().await;
        if enable {
            let _ = shift_register.decompose()[index].set_high();
        } else {
            let _ = shift_register.decompose()[index].set_low();
        }

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

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

    async fn fault(&mut self, plant: usize, enable: bool) -> Result<(), FatError> {
        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),
        };
        let shift_register = self.shift_register.lock().await;
        if enable {
            let _ = shift_register.decompose()[index].set_high();
        } else {
            let _ = shift_register.decompose()[index].set_low();
        }
        Ok(())
    }

    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
        let mut results = [0_f32; REPEAT_MOIST_MEASURE];
        for repeat in 0..REPEAT_MOIST_MEASURE {
            self.signal_counter.pause();
            self.signal_counter.clear();
            //Disable all
            {
                let shift_register = self.shift_register.lock().await;
                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 shift_register = self.shift_register.lock().await;
                let pin_0 = &mut shift_register.decompose()[MS_0];
                let pin_1 = &mut shift_register.decompose()[MS_1];
                let pin_2 = &mut shift_register.decompose()[MS_2];
                let pin_3 = &mut 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()?;
                }

                shift_register.decompose()[MS_4].set_low()?;
                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
            Timer::after_millis(10).await;
            self.signal_counter.resume();
            Timer::after_millis(measurement).await;
            self.signal_counter.pause();
            {
                let shift_register = self.shift_register.lock().await;
                shift_register.decompose()[MS_4].set_high()?;
                shift_register.decompose()[SENSOR_ON].set_low()?;
            }
            Timer::after_millis(10).await;
            let unscaled = self.signal_counter.value();
            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)
    }

    async fn general_fault(&mut self, enable: bool) {
        hold_disable(6);
        if enable {
            self.general_fault.set_high();
        } else {
            self.general_fault.set_low();
        }
        hold_enable(6);
    }

    async fn test(&mut self) -> Result<(), FatError> {
        self.general_fault(true).await;
        Timer::after_millis(100).await;
        self.general_fault(false).await;
        Timer::after_millis(100).await;
        self.light(true).await?;
        Timer::after_millis(500).await;

        self.light(false).await?;
        Timer::after_millis(500).await;
        for i in 0..PLANT_COUNT {
            self.fault(i, true).await?;
            Timer::after_millis(500).await;
            self.fault(i, false).await?;
            Timer::after_millis(500).await;
        }
        for i in 0..PLANT_COUNT {
            self.pump(i, true).await?;
            Timer::after_millis(100).await;
            self.pump(i, false).await?;
            Timer::after_millis(100).await;
        }
        for plant in 0..PLANT_COUNT {
            let a = self.measure_moisture_hz(plant, Sensor::A).await;
            let b = self.measure_moisture_hz(plant, Sensor::B).await;
            let aa = match a {
                Ok(a) => a as u32,
                Err(_) => u32::MAX,
            };
            let bb = match b {
                Ok(b) => b as u32,
                Err(_) => u32::MAX,
            };
            log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "");
        }
        Timer::after_millis(10).await;
        Ok(())
    }

    fn set_config(&mut self, config: PlantControllerConfig) {
        self.config = config;
    }

    async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError> {
        bail!("Not implemented in v3")
    }
    async fn get_mptt_current(&mut self) -> Result<Current, FatError> {
        bail!("Not implemented in v3")
    }
}