#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
#include "VL53L1X_api.h"
#include "VL53L1X_calibration.h"
#include "SelectionCapteur.h"
#include "hardware/pio.h"
#include "ws2812.h"
#include "ws2812.pio.h"

#define I2C_SDA_PIN 0
#define I2C_SCL_PIN 1


#define TEST_TIMEOUT_US 10000000

void i2c_master_init(void);
int continuous_reading(uint8_t device);
int calibration(uint8_t device);
int change_address(uint8_t * device, uint8_t new_i2c_7bits_address);
void initialise_adresses(void);
int continuous_multiple_reading(void);
void init_sensors(void);
void display_menu();



void main(void)
{
    int status;
    int answer_at_least_once=0;
    uint8_t VL53L1X_device = 0x29;

    stdio_init_all();
    i2c_master_init();
    Selection_capteur_init();
    //Selection_capteur_select(1);

    ws2812_init();

    printf("End waiting\n");

    while(1){
        int keycode;
        display_menu();
        
        do{
            keycode = getchar_timeout_us(TEST_TIMEOUT_US);
            if(!answer_at_least_once){
                display_menu();
            }
        }while(keycode == PICO_ERROR_TIMEOUT || keycode == 0);
        answer_at_least_once = 1;

        switch (keycode)
        {
        case 'a':
        case 'A':
            printf("Changement d'adresse\n");
            change_address(&VL53L1X_device, VL53L1X_device + 3);
            printf("New address: %d\n", VL53L1X_device);
            break;
        case 'i':
        case 'I':
            printf("Initialisation des capteurs\n");
            initialise_adresses();
            break;
        case 'j':
        case 'J':
            while(continuous_multiple_reading());
            break;
        case 'k':
        case 'K':
            ws2812_arc_en_ciel();
            break;
        case 'o':
        case 'O':
            while(calibration(VL53L1X_device));
            break;
        case 'r':
        case 'R':
            while(continuous_reading(VL53L1X_device));
            break;
        default :
            break;

        }
    }

}

void initialise_adresses(void){
    const uint8_t tmp_i2c_adresse = 0x28;
    const uint8_t default_i2c_adresse = 0x29;
    uint8_t VL53L1X_device = 0x29;

    // On change l'adresse de tous les capteurs
    Selection_capteur_deselect();
    change_address(&VL53L1X_device, tmp_i2c_adresse);

    // Pour chaque capteur
    for(uint capteur=1; capteur<=12; capteur++){
        // reset du capteur
        Selection_capteur_select(capteur);
        sleep_ms(1);
        Selection_capteur_deselect();
        sleep_ms(1);
        VL53L1X_device = 0x29;

        if(change_address(&VL53L1X_device, 0x30 + capteur)){
            printf("Erreur change adresse : %x => %x, capteur : %d\n", VL53L1X_device, 0x30 + capteur, capteur);
            ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
        }else{
            if(VL53L1X_SensorInit(VL53L1X_device)){
                // bad init
                ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
            }else{
                // good init
                int status;
                ws2812_set_buffer_rgb(0, 0x4, 0, capteur-1);

                // Custom configuration
                status = VL53L1X_SetDistanceMode (VL53L1X_device, 1); // Short mode
                status |= VL53L1X_SetInterMeasurementInMs(VL53L1X_device, 200); 
                status |= VL53L1X_SetTimingBudgetInMs(VL53L1X_device, 200);
                if(status){
                    printf("Custom config KO, error %d\n", status);
                    ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
                }else{
                    printf("Custom config OK\n");
                }

                status=VL53L1X_StartRanging(VL53L1X_device);
            }
        }
    }
    ws2812_affiche_buffer();
}


int continuous_multiple_reading(){
    for(uint8_t device=0x31; device<0x34; device++){
        int status;
        uint8_t data_ready = 0;
        uint16_t distance;
        while(!data_ready){
            status=VL53L1X_CheckForDataReady(device, &data_ready);
            if(status){
                printf("CheckForDataReady KO, error %d, capteur:%x\n", status, device);
                return 0;
            }
        }
        
        status=VL53L1X_GetDistance(device, &distance);
        if(status){
            printf("GetDistance KO, error %d, capteur:%x\n", status, device);
            return 0;
        }else{
            printf(">distance%x:%d\n", device, distance);
        }
        
        status=VL53L1X_ClearInterrupt(device);
        if(status){
            printf("ClearInterrupt KO, error %d, capteur:%x\n", status, device);
            return 0;
        }

        int lettre = getchar_timeout_us(0);
        if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
            return 0;
        }
    }
    return 1;
}


void display_menu(){
    printf("Select action :\n");
    printf("A - Change I2C address\n");
    printf("I - Init I2C address\n");
    printf("J - Lecture distance multiple\n");
    printf("K - Arc en ciel\n");
    printf("O - Offset Calibration\n");
    printf("R - Read distance\n");
}

int change_address(uint8_t *device, uint8_t new_i2c_7bits_address){
    int status;
    status = VL53L1X_SetI2CAddress(*device, new_i2c_7bits_address << 1);
    if(status){
        //printf("VL53L1X_SetI2CAddress, Error :%d\n", status);
    }else{
        *device=new_i2c_7bits_address;
    }
    return status;
}

int calibration(uint8_t device){
    uint16_t offset;
    int status;
    uint8_t boot_state=0;
    printf("Calibration...\n");
    while(!boot_state){
        VL53L1X_BootState(device, &boot_state);
    }
    printf("Sensor boot ok\n");

    status=VL53L1X_SensorInit(device);
    if(status){
        printf("Sensor Init KO, error %d\n", status);
    }else{
        printf("Sensor Init OK\n");
    }

    status = VL53L1X_CalibrateOffset(device, 140, &offset);
    if(status != 0){
        printf("Error while calibrating : %d\n",status);
    }else{
        printf("Offset : %d\n", offset);

    }
    return 0;
}

int continuous_reading(uint8_t device){
    int status;
    uint8_t data_ready, boot_state=0;
    uint16_t distance;

    printf("Reading distance...\nSend any character to quit.");

    while(!boot_state){
        VL53L1X_BootState(device, &boot_state);
    }
    printf("Sensor boot ok\n");

    status=VL53L1X_SensorInit(device);
    if(status){
        printf("Sensor Init KO, error %d\n", status);
        return 0;
    }else{
        printf("Sensor Init OK\n");
    }


    // Custom configuration
    status = VL53L1X_SetDistanceMode (device, 1); // Short mode
    status |= VL53L1X_SetInterMeasurementInMs(device, 200); 
    status |= VL53L1X_SetTimingBudgetInMs(device, 200);
    if(status){
        printf("Custom config KO, error %d\n", status);
        return 0;
    }else{
        printf("Custom config OK\n");
    }

    status=VL53L1X_StartRanging(device);
    if(status){
        printf("Start ranging KO, error %d\n", status);
        return 0;
    }else{
        printf("Start ranging OK\n");
    }

    while(1){
    // Reading data
        data_ready = 0;
        while(!data_ready){
            status=VL53L1X_CheckForDataReady(device, &data_ready);
            if(status){
                printf("CheckForDataReady KO, error %d\n", status);
                return 0;
            }else{
                //printf("CheckForDataReady OK\n");
            }
        }
        
        status=VL53L1X_GetDistance(device, &distance);
        if(status){
            printf("GetDistance KO, error %d\n", status);
            return 0;
        }else{
            //printf("GetDistance OK, distance %u mm\n", distance);
            printf(">distance:%d\n", distance);
        }
        
        status=VL53L1X_ClearInterrupt(device);
        if(status){
            printf("ClearInterrupt KO, error %d\n", status);
            return 0;
        }else{
            //printf("ClearInterrupt OK\n");
        }

        int lettre = getchar_timeout_us(0);
        if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
            return 0;
        }
    }
    return 0;
}

void i2c_master_init(void){
    //stdio_init_all();
    i2c_init(i2c0, 100 * 1000);

    printf("Initialisation des broches\n");
    for(int i=0; i++; i<=28){
        if(gpio_get_function(i) == GPIO_FUNC_I2C){
            printf("Pin I2C : %d\n", i);
            gpio_set_function(i, GPIO_FUNC_NULL);
        }
    }

    printf("%d and %d for I2C\n", I2C_SDA_PIN, I2C_SCL_PIN);
    gpio_set_function(I2C_SDA_PIN, GPIO_FUNC_I2C);
    gpio_set_function(I2C_SCL_PIN, GPIO_FUNC_I2C);

}