/*
#include <splitflap_flaps.h>
 * splitflap.c
 *
 *  Created on: 29.09.2022
 *      Author: jonas
 */

#include "splitflap.h"
#include "McuULN2003.h"
#include <stdbool.h>
#include "McuWait.h"
#include "lib/dict.h"
#include "splitflap_flaps.h"

static dict_t **splitFlapDict;

void SF_InitConfig(void){
	splitFlapDict = dictAlloc();
	((dict_t*)splitFlapDict)->key=NULL;
	((dict_t*)splitFlapDict)->value=NULL;
	((dict_t*)splitFlapDict)->next=NULL;
	float stepsPerSegment = SPLITFLAP_STEPS_PER_SEGMENT; // do division once
	addItem(splitFlapDict, SF_SPACE, 		(int32_t*)0);
	addItem(splitFlapDict, SF_A, 			(int32_t*)(int32_t)(stepsPerSegment * 1.0 + 0.5));  // +0.5 so that the rounding is
	addItem(splitFlapDict, SF_B, 			(int32_t*)(int32_t)(stepsPerSegment * 2.0 + 0.5));  // done correctly
	addItem(splitFlapDict, SF_C, 			(int32_t*)(int32_t)(stepsPerSegment * 3.0 + 0.5));
	addItem(splitFlapDict, SF_D, 			(int32_t*)(int32_t)(stepsPerSegment * 4.0 + 0.5));
	addItem(splitFlapDict, SF_E, 			(int32_t*)(int32_t)(stepsPerSegment * 5.0 + 0.5));
	addItem(splitFlapDict, SF_F, 			(int32_t*)(int32_t)(stepsPerSegment * 6.0 + 0.5));
	addItem(splitFlapDict, SF_G, 			(int32_t*)(int32_t)(stepsPerSegment * 7.0 + 0.5));
	addItem(splitFlapDict, SF_H, 			(int32_t*)(int32_t)(stepsPerSegment * 8.0 + 0.5));
	addItem(splitFlapDict, SF_I, 			(int32_t*)(int32_t)(stepsPerSegment * 9.0 + 0.5));
	addItem(splitFlapDict, SF_J, 			(int32_t*)(int32_t)(stepsPerSegment * 10.0 + 0.5));
	addItem(splitFlapDict, SF_K, 			(int32_t*)(int32_t)(stepsPerSegment * 11.0 + 0.5));
	addItem(splitFlapDict, SF_L, 			(int32_t*)(int32_t)(stepsPerSegment * 12.0 + 0.5));
	addItem(splitFlapDict, SF_M, 			(int32_t*)(int32_t)(stepsPerSegment * 13.0 + 0.5));
	addItem(splitFlapDict, SF_N, 			(int32_t*)(int32_t)(stepsPerSegment * 14.0 + 0.5));
	addItem(splitFlapDict, SF_O, 			(int32_t*)(int32_t)(stepsPerSegment * 15.0 + 0.5));
	addItem(splitFlapDict, SF_P, 			(int32_t*)(int32_t)(stepsPerSegment * 16.0 + 0.5));
	addItem(splitFlapDict, SF_Q, 			(int32_t*)(int32_t)(stepsPerSegment * 17.0 + 0.5));
	addItem(splitFlapDict, SF_R, 			(int32_t*)(int32_t)(stepsPerSegment * 18.0 + 0.5));
	addItem(splitFlapDict, SF_S, 			(int32_t*)(int32_t)(stepsPerSegment * 19.0 + 0.5));
	addItem(splitFlapDict, SF_T, 			(int32_t*)(int32_t)(stepsPerSegment * 20.0 + 0.5));
	addItem(splitFlapDict, SF_U, 			(int32_t*)(int32_t)(stepsPerSegment * 21.0 + 0.5));
	addItem(splitFlapDict, SF_V, 			(int32_t*)(int32_t)(stepsPerSegment * 22.0 + 0.5));
	addItem(splitFlapDict, SF_W, 			(int32_t*)(int32_t)(stepsPerSegment * 23.0 + 0.5));
	addItem(splitFlapDict, SF_X, 			(int32_t*)(int32_t)(stepsPerSegment * 24.0 + 0.5));
	addItem(splitFlapDict, SF_Y, 			(int32_t*)(int32_t)(stepsPerSegment * 25.0 + 0.5));
	addItem(splitFlapDict, SF_Z, 			(int32_t*)(int32_t)(stepsPerSegment * 26.0 + 0.5));
	addItem(splitFlapDict, SF_0, 			(int32_t*)(int32_t)(stepsPerSegment * 27.0 + 0.5));
	addItem(splitFlapDict, SF_1, 			(int32_t*)(int32_t)(stepsPerSegment * 28.0 + 0.5));
	addItem(splitFlapDict, SF_2, 			(int32_t*)(int32_t)(stepsPerSegment * 29.0 + 0.5));
	addItem(splitFlapDict, SF_3, 			(int32_t*)(int32_t)(stepsPerSegment * 30.0 + 0.5));
	addItem(splitFlapDict, SF_4, 			(int32_t*)(int32_t)(stepsPerSegment * 31.0 + 0.5));
	addItem(splitFlapDict, SF_5, 			(int32_t*)(int32_t)(stepsPerSegment * 32.0 + 0.5));
	addItem(splitFlapDict, SF_6, 			(int32_t*)(int32_t)(stepsPerSegment * 33.0 + 0.5));
	addItem(splitFlapDict, SF_7, 			(int32_t*)(int32_t)(stepsPerSegment * 34.0 + 0.5));
	addItem(splitFlapDict, SF_8, 			(int32_t*)(int32_t)(stepsPerSegment * 35.0 + 0.5));
	addItem(splitFlapDict, SF_9, 			(int32_t*)(int32_t)(stepsPerSegment * 36.0 + 0.5));
	addItem(splitFlapDict, SF_EXCLAMATION, 	(int32_t*)(int32_t)(stepsPerSegment * 37.0 + 0.5));
	addItem(splitFlapDict, SF_QUESTION, 	(int32_t*)(int32_t)(stepsPerSegment * 38.0 + 0.5));
	addItem(splitFlapDict, SF_COLON, 		(int32_t*)(int32_t)(stepsPerSegment * 39.0 + 0.5));
}

void SF_DeInitConfig(void){
	dictDealoc(splitFlapDict);
}

SF_Handle_t SF_Init(SF_Config_t* instance, int id){
	SF_t* splitflap;

#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
	splitflap = (SF_t*)pvPortMalloc(sizeof(SF_t)); /* get a new device descriptor */
#else
	splitflap = (SF_t*)malloc(sizeof(SF_t)); /* get a new device descriptor */
#endif

	splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig);
	splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
	splitflap->id = id;

	return splitflap;
}

bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
	int numStepsMoved = 0;

	// move out of sensor
	while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
		McuULN2003_IncStep(((SF_t*)instance)->motor);
		McuWait_Waitms(20);
	}

	// turn until sensor is on
	while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
		McuULN2003_IncStep(((SF_t*)instance)->motor);
		McuWait_Waitms(20);
		numStepsMoved++;
	}

	// one more segment if not already one round
	if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
		// +0.5 so that the rounding is done correctly
		int8_t offsetSteps = (int8_t)((float)offsetSegments*SPLITFLAP_STEPS_PER_SEGMENT + 0.5);
		for(int i=0; i < offsetSteps; i++){
			McuULN2003_IncStep(((SF_t*)instance)->motor);
			McuWait_Waitms(20);
			numStepsMoved++;
		}
	}
	McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
	McuULN2003_PowerOff(((SF_t*)instance)->motor);
	// success if less than one rotation
	return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
}

void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
	// run move with acceleration & deceleration
	McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
	while(steps>0){
		if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
			steps--;
		}
		McuWait_Waitms(1);
	}
	McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);

	// Power off disables all outputs of the ULN,
	// required since it is possible that one is still active, which would result in the motor getting hot
	// no re-init is required
	McuULN2003_PowerOff(((SF_t*)instance)->motor);
}

bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
	return McuGPIO_IsLow(((SF_t*)instance)->magSensor);
}

void SF_MoveToFlap(SF_Handle_t instance, char* flap){
	// get flap pos from dictonary
	int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
	// get current motor pos
	int32_t currentPos = SF_GetMotorPosition(instance) % SPLITFLAP_STEPS_ONE_ROUND;
	// calc steps to move
	int32_t stepsToReachFlap = 0;
	// not already there
	if(flapPos != currentPos){
		if(flapPos < currentPos){
				stepsToReachFlap = SPLITFLAP_STEPS_ONE_ROUND-currentPos+flapPos;
		}else if(flapPos > currentPos){
				stepsToReachFlap = flapPos - currentPos;
		}
		SF_MoveSteps(instance, stepsToReachFlap);
	}
}

int32_t SF_GetMotorPosition(SF_Handle_t instance){
	return McuULN2003_GetPos(((SF_t*)instance)->motor);
}

void SF_Deinit(SF_Handle_t instance){
	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
}