#include "ugv_io.hh"

#include <driver/gpio.h>
#include <driver/mcpwm.h>
#include <driver/uart.h>
#include <esp_log.h>
#include <math.h>

#include "MPU.hpp"
#include "mpu/math.hpp"

namespace ugv {
namespace io {

static constexpr mcpwm_unit_t MCPWM_UNIT      = MCPWM_UNIT_0;
static constexpr gpio_num_t   MOTOR_LEFT_PWM  = GPIO_NUM_0;
static constexpr gpio_num_t   MOTOR_LEFT_DIR  = GPIO_NUM_0;
static constexpr gpio_num_t   MOTOR_RIGHT_PWM = GPIO_NUM_0;
static constexpr gpio_num_t   MOTOR_RIGHT_DIR = GPIO_NUM_0;

IOClass IO;

IOClass::IOClass() {}

IOClass::~IOClass() {}

void IOClass::Init() {
  InitMotors();
  mpu_.Init();
  gps_.Init();
}

void IOClass::InitMotors() {
  gpio_set_direction(MOTOR_LEFT_PWM, GPIO_MODE_OUTPUT);
  gpio_set_direction(MOTOR_LEFT_DIR, GPIO_MODE_OUTPUT);
  gpio_set_direction(MOTOR_RIGHT_PWM, GPIO_MODE_OUTPUT);
  gpio_set_direction(MOTOR_RIGHT_DIR, GPIO_MODE_OUTPUT);
  mcpwm_gpio_init(MCPWM_UNIT, MCPWM0A, MOTOR_LEFT_PWM);
  mcpwm_gpio_init(MCPWM_UNIT, MCPWM0B, MOTOR_RIGHT_PWM);

  mcpwm_config_t mcpwm_config;
  mcpwm_config.frequency    = 20000;  // 20khz
  mcpwm_config.cmpr_a       = 0;
  mcpwm_config.cmpr_b       = 0;
  mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER;  // for symmetric pwm
  mcpwm_config.duty_mode    = MCPWM_DUTY_MODE_0;      // active high
  mcpwm_init(MCPWM_UNIT, MCPWM_TIMER_0, &mcpwm_config);
}

void IOClass::ReadInputs(Inputs &inputs) {
  gps_.GetData(inputs.gps);
  mpu_.GetData(inputs.mpu);
}

void IOClass::WriteOutputs(const Outputs &outputs) {
  mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_0, MCPWM_OPR_A,
                 fabs(outputs.left_motor));
  mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_0, MCPWM_OPR_B,
                 fabs(outputs.right_motor));
  bool left_dir, right_dir;
  left_dir  = outputs.left_motor < 0.f;
  right_dir = outputs.right_motor < 0.f;
  gpio_set_level(MOTOR_LEFT_DIR, left_dir);
  gpio_set_level(MOTOR_RIGHT_DIR, right_dir);
}

};  // namespace io
};  // namespace ugv