/*
 * Copyright 2019 by Morgan Allen
 * 
 * This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International
 * https://creativecommons.org/licenses/by-nc/4.0/
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/event_groups.h"
#include "esp_system.h"
#include "esp_log.h"
#include "esp_console.h"
#include "esp_vfs_dev.h"
#include "nvs_flash.h"
#include "esp_http_client.h"
#include "driver/uart.h"
#include "driver/mcpwm.h"
#include "soc/mcpwm_reg.h"
#include "soc/mcpwm_struct.h"
#include "linenoise/linenoise.h"
#include "argtable3/argtable3.h"
#include "driver/gpio.h"

#include "esp32-wifi-manager.h"

#define TAG "CACO"

#define GPIO_INPUT_IO_0    33
#define GPIO_INPUT_PIN_SEL  ((1ULL<<GPIO_INPUT_IO_0))
#define ESP_INTR_FLAG_DEFAULT 0

#define BASE_URL "http://192.168.0.1/"
#define CMD_BEEP "cmd=audio resplay 0 1 3\n"

#define CONFIG_SERVO_ENABLE (0)
#define CONFIG_SHOOT_DELAY_MS (30000)
#define CONFIG_TIMEOUT_SHOOT (100 / portTICK_PERIOD_MS)

static uint8_t id;

static EventGroupHandle_t wm_event_group;
static xQueueHandle gpio_evt_queue = NULL;
static xTimerHandle button_timer;

static struct {
  struct arg_int *value; // how fast it will move in uS
  struct arg_int *duration; // for how long it will move
  struct arg_end *end;
} servo_args;

esp_err_t _http_event_handle(esp_http_client_event_t *evt) {
  //ESP_LOGI(TAG, "Returning request for %s", (char*)evt->user_data);

  switch(evt->event_id) {
    case HTTP_EVENT_ERROR:
      ESP_LOGI(TAG, "HTTP_EVENT_ERROR");
      break;
    case HTTP_EVENT_ON_CONNECTED:
      ESP_LOGI(TAG, "HTTP_EVENT_ON_CONNECTED");
      break;
    case HTTP_EVENT_HEADER_SENT:
      ESP_LOGI(TAG, "HTTP_EVENT_HEADER_SENT");
      break;
    case HTTP_EVENT_ON_HEADER:
      ESP_LOGI(TAG, "HTTP_EVENT_ON_HEADER");
      printf("%.*s", evt->data_len, (char*)evt->data);
      break;
    case HTTP_EVENT_ON_DATA:
      ESP_LOGI(TAG, "HTTP_EVENT_ON_DATA, len=%d", evt->data_len);
      if (!esp_http_client_is_chunked_response(evt->client)) {
        printf("%.*s", evt->data_len, (char*)evt->data);
      }

      break;
    case HTTP_EVENT_ON_FINISH:
      ESP_LOGI(TAG, "HTTP_EVENT_ON_FINISH");
      break;
    case HTTP_EVENT_DISCONNECTED:
      ESP_LOGI(TAG, "HTTP_EVENT_DISCONNECTED");
      break;
  }
  return ESP_OK;
}

void ping() {
  esp_http_client_config_t config = {
    .url = "http://192.168.0.1/_gr",
    .method = HTTP_METHOD_POST,
  };

  esp_http_client_handle_t client = esp_http_client_init(&config);
  esp_http_client_set_post_field(client, CMD_BEEP, strlen(CMD_BEEP));
  esp_err_t err = esp_http_client_perform(client);

  if (err == ESP_OK) {
    ESP_LOGI(TAG, "Status = %d, content_length = %d",
        esp_http_client_get_status_code(client),
        esp_http_client_get_content_length(client));
  }
}

void shoot() {
  ESP_LOGI(TAG, "shooting");

  esp_http_client_config_t config = {
    .url = "http://192.168.0.1/v1/camera/shoot",
    .method = HTTP_METHOD_POST,
  };

  esp_http_client_handle_t client = esp_http_client_init(&config);
  esp_http_client_set_post_field(client, CMD_BEEP, strlen(CMD_BEEP));
  esp_err_t err = esp_http_client_perform(client);

  if (err == ESP_OK) {
    ESP_LOGI(TAG, "Status = %d, content_length = %d",
        esp_http_client_get_status_code(client),
        esp_http_client_get_content_length(client));
  }
}

void request(char *path) {
  char *url = malloc(strlen(BASE_URL) + strlen(path) + 1);
  strcpy(url, BASE_URL);
  strcat(url, path);

  ESP_LOGI(TAG, "Making request to %s", url);

  esp_http_client_config_t config = {
    .url = url,
    .event_handler = _http_event_handle
  };

  esp_http_client_handle_t client = esp_http_client_init(&config);
  esp_err_t err = esp_http_client_perform(client);

  if (err == ESP_OK) {
    ESP_LOGI(TAG, "Status = %d, content_length = %d",
        esp_http_client_get_status_code(client),
        esp_http_client_get_content_length(client));
  }
}

void loop() {
  xEventGroupWaitBits(wm_event_group, WIFI_CONNECTED, false, true, portMAX_DELAY);
  ping();

  vTaskDelay(1000 / portTICK_PERIOD_MS);

  while(true) {
    //shoot();

    if(CONFIG_SERVO_ENABLE) {
      vTaskDelay(3000 / portTICK_PERIOD_MS);

      mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1200);
      vTaskDelay(200 / portTICK_PERIOD_MS);
      mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);
    }

    vTaskDelay(CONFIG_SHOOT_DELAY_MS / portTICK_PERIOD_MS);
  }
}

void pwm_init() {
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 21);

  mcpwm_config_t pwm_config;
  pwm_config.frequency = 50;    //frequency = 50Hz, i.e. for every servo motor time period should be 20ms
  pwm_config.cmpr_a = 0;    //duty cycle of PWMxA = 0
  pwm_config.cmpr_b = 0;    //duty cycle of PWMxb = 0
  pwm_config.counter_mode = MCPWM_UP_COUNTER;
  pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
}

void servo() {
  ESP_LOGI(TAG, "value: %d duration: %d", servo_args.value->ival[0], servo_args.duration->ival[0]);

  while(true) {
    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, servo_args.value->ival[0]);
    vTaskDelay(servo_args.duration->ival[0] / portTICK_PERIOD_MS);
    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);

    vTaskDelay(5000 / portTICK_PERIOD_MS);
  }
}

bool running = false;

static int servo_start(int argc, char **argv) {
  int nerrors = arg_parse(argc, argv, (void**) &servo_args);
  if (nerrors != 0) {
    arg_print_errors(stderr, servo_args.end, argv[0]);
    return 1;
  }

  if(!running) {
    running = true;
    xTaskCreate(&servo, "servo",  4096, NULL, 6, NULL);
  }

  return ESP_OK;
}

void register_servo_cmd() {
  servo_args.value = arg_int0("v", "value", "<int>", "move value in us");
  servo_args.value->ival[0] = 1200;

  servo_args.duration = arg_int0("d", "duration", "<int>", "duration in ms");

  servo_args.end = arg_end(2);

  const esp_console_cmd_t start_cmd = {
    .command = "start",
    .help = "Starts the servo",
    .hint = NULL,
    .func = &servo_start,
    .argtable = &servo_args
  };

  ESP_ERROR_CHECK( esp_console_cmd_register(&start_cmd) );
}

static void initialize_console() {
  /* Disable buffering on stdin and stdout */
  setvbuf(stdin, NULL, _IONBF, 0);
  setvbuf(stdout, NULL, _IONBF, 0);

  /* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
  esp_vfs_dev_uart_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
  /* Move the caret to the beginning of the next line on '\n' */
  esp_vfs_dev_uart_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);

  /* Configure UART. Note that REF_TICK is used so that the baud rate remains
   * correct while APB frequency is changing in light sleep mode.
   */
  const uart_config_t uart_config = {
    .baud_rate = CONFIG_CONSOLE_UART_BAUDRATE,
    .data_bits = UART_DATA_8_BITS,
    .parity = UART_PARITY_DISABLE,
    .stop_bits = UART_STOP_BITS_1,
    .use_ref_tick = true
  };
  ESP_ERROR_CHECK( uart_param_config(CONFIG_CONSOLE_UART_NUM, &uart_config) );

  /* Install UART driver for interrupt-driven reads and writes */
  ESP_ERROR_CHECK( uart_driver_install(CONFIG_CONSOLE_UART_NUM,
        256, 0, 0, NULL, 0) );

  /* Tell VFS to use UART driver */
  esp_vfs_dev_uart_use_driver(CONFIG_CONSOLE_UART_NUM);

  /* Initialize the console */
  esp_console_config_t console_config = {
    .max_cmdline_args = 8,
    .max_cmdline_length = 256,
    .hint_color = atoi(LOG_COLOR_CYAN)
  };
  ESP_ERROR_CHECK( esp_console_init(&console_config) );

  /* Configure linenoise line completion library */
  /* Enable multiline editing. If not set, long commands will scroll within
   * single line.
   */
  linenoiseSetMultiLine(1);

  /* Tell linenoise where to get command completions and hints */
  linenoiseSetCompletionCallback(&esp_console_get_completion);
  linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);

  /* Set command history size */
  linenoiseHistorySetMaxLen(100);
}

static void IRAM_ATTR gpio_isr_handler(void* arg)
{
    uint32_t gpio_num = (uint32_t) arg;
    xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}

void gpio_loop() {
  int8_t state = -1;
  uint32_t io_num;

  for(;;) {
    if(xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY)) {
      uint8_t level = gpio_get_level(io_num);
      printf("GPIO[%d] intr, val: %d\n", io_num, level);

      // don't act on state level twice
      if(level == state) continue;

      // track level for duplicate
      state = level;

      if(level == 0) {
        xTimerChangePeriod(button_timer, CONFIG_TIMEOUT_SHOOT, portMAX_DELAY);
        xTimerStart(button_timer, portMAX_DELAY);
      } else {
        xTimerStop(button_timer, portMAX_DELAY);
      }
    }
  }
}

void handle_button_timer() {
  shoot();
}

void gpio_init() {
  gpio_config_t io_conf;

  io_conf.intr_type = GPIO_PIN_INTR_ANYEDGE;
  io_conf.mode = GPIO_MODE_INPUT;
  io_conf.pin_bit_mask = GPIO_INPUT_PIN_SEL;
  io_conf.pull_down_en = 0;
  io_conf.pull_up_en = 1;
  gpio_config(&io_conf);

  gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
  gpio_isr_handler_add(GPIO_INPUT_IO_0, gpio_isr_handler, (void*) GPIO_INPUT_IO_0);

  //create a queue to handle gpio event from isr
  gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));
  //start gpio task

  button_timer = xTimerCreate("gpio_timer", 1000, pdFALSE, (void*)NULL, handle_button_timer);

  xTaskCreate(gpio_loop, "gpio_loop", 2048, NULL, 10, NULL);
}

void app_main() {
  esp_err_t ret;

  // Initialize NVS.
  ret = nvs_flash_init();
  if (ret == ESP_ERR_NVS_NO_FREE_PAGES) {
    ESP_LOGI(TAG, "Erasing flash memory");
    ESP_ERROR_CHECK(nvs_flash_erase());
    ret = nvs_flash_init();
  }
  ESP_ERROR_CHECK( ret );

  uint8_t *mac;
  mac = (uint8_t *)malloc(6);
  esp_efuse_mac_get_default(mac);
  id = mac[5];

  ESP_LOGI(TAG, "MAC: %X:%X:%X:%X:%X:%X\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);

  wm_event_group = wifi_manager_start();
  wifi_manager_reset_store();

  if(wifi_manager_ap_count() == 0) {
    ESP_LOGI(TAG, "Adding new AP");

    if(strlen(CONFIG_WIFI_MANAGER_TEST_AP) > 0) {
      wifi_manager_add_ap(CONFIG_WIFI_MANAGER_TEST_AP, CONFIG_WIFI_MANAGER_TEST_PWD);
    }
  }

  wifi_manager_scan();

  //initialize_console();
  //esp_console_register_help_command();
  //register_servo_cmd();

  pwm_init();

  xTaskCreate(&loop, "loop",  4096, NULL, 6, NULL);

  const char* prompt = LOG_COLOR_I "grii> " LOG_RESET_COLOR;

  gpio_init();

  return;
  while(true) {
    char* line = linenoise(prompt);

    if (line == NULL) { /* Ignore empty lines */
      continue;
    }

    linenoiseHistoryAdd(line);
    int ret;
    esp_err_t err = esp_console_run(line, &ret);
    if (err == ESP_ERR_NOT_FOUND) {
      printf("Unrecognized command\n");
    } else if (err == ESP_ERR_INVALID_ARG) {
      // command was empty
    } else if (err == ESP_OK && ret != ESP_OK) {
      printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(err));
    } else if (err != ESP_OK) {
      printf("Internal error: %s\n", esp_err_to_name(err));
    }
    /* linenoise allocates line buffer on the heap, so need to free it */
    linenoiseFree(line);
  }
};