#include "BNO08x.hpp"
#include "BNO08x_macros.hpp"

/**
 * @brief BNO08x imu constructor.
 *
 * Construct a BNO08x object for managing a BNO08x sensor.
 *
 * @param imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t
 * @return void, nothing to return
 */
BNO08x::BNO08x(bno08x_config_t imu_config)
    : data_proc_task_hdl(NULL)
    , sh2_HAL_service_task_hdl(NULL)
    , sh2_HAL_lock(xSemaphoreCreateMutex())
    , data_lock(xSemaphoreCreateMutex())
    , sem_kill_tasks(NULL)
    , evt_grp_bno08x_task(xEventGroupCreate())
    , evt_grp_report_en(xEventGroupCreate())
    , queue_rx_sensor_event(xQueueCreate(5, sizeof(sh2_SensorEvent_t)))
    , imu_config(imu_config)
{
}

/**
 * @brief BNO08x imu deconstructor.
 *
 * Deconstructs a BNO08x object and releases any utilized resources.
 *
 * @return void, nothing to return.
 */
BNO08x::~BNO08x()
{
    // disable interrupts before beginning so we can ensure SPI transaction doesn't attempt to run
    gpio_intr_disable(imu_config.io_int);

    // deinitialize sh2 HAL if it has been initialized
    ESP_ERROR_CHECK(deinit_sh2_HAL());

    // deinitialize spi if has been initialized
    ESP_ERROR_CHECK(deinit_spi());

    // deinitialize hint ISR if it has been initialized
    ESP_ERROR_CHECK(deinit_hint_isr());

    // deinitialize GPIO if they have been initialized
    ESP_ERROR_CHECK(deinit_gpio());

    // deinitialize tasks if they have been initialized
    ESP_ERROR_CHECK(deinit_tasks());

    // delete all semaphores
    vSemaphoreDelete(sh2_HAL_lock);
    vSemaphoreDelete(data_lock);
    if (sem_kill_tasks != NULL)
        vSemaphoreDelete(sem_kill_tasks);

    // delete event groups
    vEventGroupDelete(evt_grp_bno08x_task);
    vEventGroupDelete(evt_grp_report_en);

    // delete all queues
    vQueueDelete(queue_rx_sensor_event);

    // clear callback list
    cb_list.clear();
}

/**
 * @brief Initializes BNO08x sensor
 *
 * Resets sensor and goes through initialization process.
 * Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.
 *
 * @return True if initialization was success, false if otherwise.
 */
bool BNO08x::initialize()
{

    // initialize configuration arguments
    if (init_config_args() != ESP_OK)
        return false;

    // initialize GPIO
    if (init_gpio() != ESP_OK)
        return false;

    // initialize HINT ISR
    if (init_hint_isr() != ESP_OK)
        return false;

    // initialize SPI
    if (init_spi() != ESP_OK)
        return false;

    // initialize SH2 HAL
    if (init_sh2_HAL() != ESP_OK)
        return false;

    // initialize tasks
    if (init_tasks() != ESP_OK)
        return false;

        // clang-format off
    #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
    ESP_LOGI(TAG, "Successfully initialized....");
    #endif
    // clang-format on

    return true;
}

/**
 * @brief Static function used to launch data processing task.
 *
 * Used such that data_proc_task() can be non-static class member.
 *
 * @param arg void pointer to BNO08x imu object
 * @return void, nothing to return
 */
void BNO08x::data_proc_task_trampoline(void* arg)
{
    BNO08x* imu = (BNO08x*) arg; // cast argument received by xTaskCreate ("this" pointer to imu object created by constructor call)
    imu->data_proc_task();       // launch data processing task task from object
}

/**
 * @brief Task responsible for handling sensor events sent by SH2 HAL.
 *
 * @return void, nothing to return
 */
void BNO08x::data_proc_task()
{
    EventBits_t evt_grp_bno08x_task_bits = 0U;
    sh2_SensorEvent_t sensor_evt;
    sh2_SensorValue_t sensor_val;

    while (1)
    {
        if (xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY) == pdTRUE)
        {
            evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);

            if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
            {

                if (sh2_decodeSensorEvent(&sensor_val, &sensor_evt) != SH2_ERR)
                    handle_sensor_report(&sensor_val);
            }
            else
            {
                break; // exit loop, deconstructor requested task to commit self-deletion
            }
        }
    }

    xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
    vTaskDelete(NULL);
}

void BNO08x::sh2_HAL_service_task_trampoline(void* arg)
{
    BNO08x* imu = (BNO08x*) arg; // cast argument received by xTaskCreate ("this" pointer to imu object created by constructor call)
    imu->sh2_HAL_service_task(); // launch data processing task task from object
}

void BNO08x::sh2_HAL_service_task()
{
    EventBits_t evt_grp_bno08x_task_bits = 0U;

    while (1)
    {
        xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, pdFALSE, pdFALSE, portMAX_DELAY);

        evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);

        if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
        {
            if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
            {
                re_enable_reports();
            }

            lock_sh2_HAL();
            sh2_service();
            unlock_sh2_HAL();
        }
        else
        {
            break; // exit loop, deconstructor requested task to commit self-deletion
        }
    }

    xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
    vTaskDelete(NULL);
}

/**
 * @brief Locks sh2 HAL lib to only allow the calling task to call its APIs.
 *
 * @return void, nothing to return
 */
void BNO08x::lock_sh2_HAL()
{
    xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY);
}

/**
 * @brief Unlocks sh2 HAL lib to allow other tasks to call its APIs.
 *
 * @return void, nothing to return
 */
void BNO08x::unlock_sh2_HAL()
{
    xSemaphoreGive(sh2_HAL_lock);
}

/**
 * @brief Locks bno08x_data_t data member struct to only allow the calling task to read/modify it.
 *
 * @return void, nothing to return
 */
void BNO08x::lock_user_data()
{
    xSemaphoreTake(data_lock, portMAX_DELAY);
}

/**
 * @brief Unlocks bno08x_data_t data member struct to allow other tasks to read/modify it.
 *
 * @return void, nothing to return
 */
void BNO08x::unlock_user_data()
{
    xSemaphoreGive(data_lock);
}

void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
{
    switch (sensor_val->sensorId)
    {
        case SH2_GRAVITY:
            update_gravity_data(sensor_val);
            ESP_LOGW(TAG, "grav: %.3lf %.3lf %.3lf", data.gravity.x, data.gravity.y, data.gravity.z);
            break;

        case SH2_LINEAR_ACCELERATION:
            update_linear_accelerometer_data(sensor_val);
            ESP_LOGW(TAG, "lin_accl: %.3lf %.3lf %.3lf", data.linear_acceleration.x, data.linear_acceleration.y, data.linear_acceleration.z);
            break;

        case SH2_ACCELEROMETER:
            update_accelerometer_data(sensor_val);
            ESP_LOGW(TAG, "accl: %.3lf %.3lf %.3lf", data.acceleration.x, data.acceleration.y, data.acceleration.z);
            break;

        default:

            break;
    }
}

/**
 * @brief Updates gravity data from decoded sensor event.
 *
 * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
 *
 * @return void, nothing to return
 */
void BNO08x::update_gravity_data(sh2_SensorValue_t* sensor_val)
{
    lock_user_data();
    data.gravity.x = sensor_val->un.gravity.x;
    data.gravity.y = sensor_val->un.gravity.y;
    data.gravity.z = sensor_val->un.gravity.z;
    unlock_user_data();
}

/**
 * @brief Updates linear accelerometer data from decoded sensor event.
 *
 * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
 *
 * @return void, nothing to return
 */
void BNO08x::update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
    lock_user_data();
    data.linear_acceleration.x = sensor_val->un.linearAcceleration.x;
    data.linear_acceleration.y = sensor_val->un.linearAcceleration.y;
    data.linear_acceleration.z = sensor_val->un.linearAcceleration.z;
    unlock_user_data();
}

/**
 * @brief Updates accelerometer data from decoded sensor event.
 *
 * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
 *
 * @return void, nothing to return
 */
void BNO08x::update_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
    lock_user_data();
    data.acceleration.x = sensor_val->un.accelerometer.x;
    data.acceleration.y = sensor_val->un.accelerometer.x;
    data.acceleration.z = sensor_val->un.accelerometer.x;
    unlock_user_data();
}

/**
 * @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_config_args()
{
    if ((imu_config.io_cs == GPIO_NUM_NC))
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, CS GPIO cannot be unassigned.");
        #endif
        // clang-format on

        return ESP_ERR_INVALID_ARG;
    }

    if ((imu_config.io_miso == GPIO_NUM_NC))
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, MISO GPIO cannot be unassigned.");
        #endif
        // clang-format on

        return ESP_ERR_INVALID_ARG;
    }

    if ((imu_config.io_mosi == GPIO_NUM_NC))
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, MOSI GPIO cannot be unassigned.");
        #endif
        // clang-format on

        return ESP_ERR_INVALID_ARG;
    }

    if ((imu_config.io_sclk == GPIO_NUM_NC))
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, SCLK GPIO cannot be unassigned.");
        #endif
        // clang-format on

        return ESP_ERR_INVALID_ARG;
    }

    if ((imu_config.io_rst == GPIO_NUM_NC))
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "RST GPIO cannot be unassigned.");
        #endif
        // clang-format on

        return ESP_ERR_INVALID_ARG;
    }

    // SPI bus config
    bus_config.mosi_io_num = imu_config.io_mosi; // assign mosi gpio pin
    bus_config.miso_io_num = imu_config.io_miso; // assign miso gpio pin
    bus_config.sclk_io_num = imu_config.io_sclk; // assign sclk gpio pin
    bus_config.quadhd_io_num = -1;               // hold signal gpio (not used)
    bus_config.quadwp_io_num = -1;               // write protect signal gpio (not used)

    // SPI slave device specific config
    imu_spi_config.mode = 0x3; // set mode to 3 as per BNO08x datasheet (CPHA second edge, CPOL bus high when idle)

    if (imu_config.sclk_speed > SCLK_MAX_SPEED) // max sclk speed of 3MHz for BNO08x
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Max SPI clock speed exceeded, %ld overwritten with 3MHz", imu_config.sclk_speed);
        #endif
        // clang-format on

        imu_config.sclk_speed = SCLK_MAX_SPEED;
    }

    imu_spi_config.clock_source = SPI_CLK_SRC_DEFAULT;
    imu_spi_config.clock_speed_hz = imu_config.sclk_speed; // assign SCLK speed
    imu_spi_config.address_bits = 0;                       // 0 address bits, not using this system
    imu_spi_config.command_bits = 0;                       // 0 command bits, not using this system
    imu_spi_config.spics_io_num = -1;                      // due to esp32 silicon issue, chip select cannot be used with full-duplex mode
                                                           // driver, it must be handled via calls to gpio pins
    imu_spi_config.queue_size = static_cast<int>(CONFIG_ESP32_BNO08X_SPI_QUEUE_SZ); // set max allowable queued SPI transactions

    return ESP_OK;
}

/**
 * @brief Initializes required gpio inputs.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_gpio_inputs()
{
    esp_err_t ret = ESP_OK;

    // configure input(s) (HINT)
    gpio_config_t inputs_config;
    inputs_config.pin_bit_mask = (1ULL << imu_config.io_int);
    inputs_config.mode = GPIO_MODE_INPUT;
    inputs_config.pull_up_en = GPIO_PULLUP_DISABLE;
    inputs_config.pull_down_en = GPIO_PULLDOWN_DISABLE;
    inputs_config.intr_type = GPIO_INTR_NEGEDGE;

    ret = gpio_config(&inputs_config);

    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to configure HINT gpio.");
        #endif
        // clang-format on
    }
    else
    {
        init_status.gpio_inputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
    }

    return ret;
}

/**
 * @brief Initializes required gpio outputs.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_gpio_outputs()
{
    esp_err_t ret = ESP_OK;

    // configure output(s) (CS, RST, and WAKE)
    gpio_config_t outputs_config;

    outputs_config.pin_bit_mask = (imu_config.io_wake != GPIO_NUM_NC)
                                          ? ((1ULL << imu_config.io_cs) | (1ULL << imu_config.io_rst) | (1ULL << imu_config.io_wake))
                                          : ((1ULL << imu_config.io_cs) | (1ULL << imu_config.io_rst));

    outputs_config.mode = GPIO_MODE_OUTPUT;
    outputs_config.pull_down_en = GPIO_PULLDOWN_DISABLE;
    outputs_config.pull_up_en = GPIO_PULLUP_DISABLE;
    outputs_config.intr_type = GPIO_INTR_DISABLE;

    ret = gpio_config(&outputs_config);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to configure CS, RST, and WAKE (if used) gpio.");
        #endif
        // clang-format on
    }
    else
    {
        init_status.gpio_outputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
    }

    return ret;
}

/**
 * @brief Initializes required gpio.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_gpio()
{
    esp_err_t ret = ESP_OK;

    /*GPIO config for pins not controlled by SPI peripheral*/

    ret = init_gpio_outputs();
    if (ret != ESP_OK)
        return ret;

    ret = init_gpio_inputs();
    if (ret != ESP_OK)
        return ret;

    gpio_set_level(imu_config.io_cs, 1);
    gpio_set_level(imu_config.io_rst, 1);

    if (imu_config.io_wake != GPIO_NUM_NC)
        gpio_set_level(imu_config.io_wake, 1);

    return ret;
}

/**
 * @brief Initializes host interrupt ISR.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_hint_isr()
{
    esp_err_t ret = ESP_OK;

    // check if installation of ISR service has been requested by user (default is true)
    if (imu_config.install_isr_service)
        ret = gpio_install_isr_service(0); // install isr service

    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to install global ISR service.");
        #endif
        // clang-format on

        return ret;
    }
    else
    {
        init_status.isr_service = true; // set isr service to initialized such that deconstructor knows to clean it up (this will be ignored if
                                        // imu_config.install_isr_service == false)
    }

    ret = gpio_isr_handler_add(imu_config.io_int, hint_handler, (void*) this);
    if (ret != ESP_OK)
    {

        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to add hint_handler ISR.");
        #endif
        // clang-format on

        return ret;
    }
    else
    {
        init_status.isr_handler = true; // set isr handler to initialized such that deconstructor knows to clean it up
    }

    return ret;
}

/**
 * @brief Initializes data_proc_task.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_tasks()
{
    BaseType_t task_created = pdFALSE;

    xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);

    // launch data processing task
    task_created = xTaskCreate(
            &data_proc_task_trampoline, "bno08x_data_processing_task", CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ, this, 7, &data_proc_task_hdl);

    if (task_created != pdTRUE)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, data_proc_task failed to launch.");
        #endif
        // clang-format on

        return ESP_FAIL;
    }
    else
    {
        init_status.task_init_cnt++;
        init_status.data_proc_task = true;
    }

    // launch data processing task
    task_created = xTaskCreate(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", 4095U, this, 7, &sh2_HAL_service_task_hdl);

    if (task_created != pdTRUE)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, sh2_HAL_service_task failed to launch.");
        #endif
        // clang-format on

        return ESP_FAIL;
    }
    else
    {
        init_status.task_init_cnt++;
        init_status.sh2_HAL_service_task = true;
    }

    return ESP_OK;
}

/**
 * @brief Initializes SPI.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_spi()
{
    esp_err_t ret = ESP_OK;

    // initialize the spi peripheral
    ret = spi_bus_initialize(imu_config.spi_peripheral, &bus_config, SPI_DMA_CH_AUTO);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, SPI bus failed to initialize.");
        #endif
        // clang-format on

        return ret;
    }
    else
    {
        init_status.spi_bus = true;
    }

    // add the imu device to the bus
    ret = spi_bus_add_device(imu_config.spi_peripheral, &imu_spi_config, &spi_hdl);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus.");
        #endif
        // clang-format on

        return ret;
    }
    else
    {
        init_status.spi_device = true;
    }
    return ret;
}

/**
 * @brief Initializes sh2 HAL.
 *
 * @return ESP_OK if initialization was success.
 */
esp_err_t BNO08x::init_sh2_HAL()
{
    // use this IMU in sh2 HAL callbacks
    BNO08xSH2HAL::set_hal_imu(this);

    // register sh2 HAL callbacks
    sh2_HAL.open = BNO08xSH2HAL::spi_open;
    sh2_HAL.close = BNO08xSH2HAL::spi_close;
    sh2_HAL.read = BNO08xSH2HAL::spi_read;
    sh2_HAL.write = BNO08xSH2HAL::spi_write;
    sh2_HAL.getTimeUs = BNO08xSH2HAL::get_time_us;

    // reset BNO08x
    hard_reset();

    if (sh2_open(&sh2_HAL, BNO08xSH2HAL::hal_cb, NULL) != SH2_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, sh2_open() call failed.");
        #endif
        // clang-format on

        return ESP_FAIL;
    }

    init_status.sh2_HAL = true;

    memset(&product_IDs, 0, sizeof(product_IDs));

    if (sh2_getProdIds(&product_IDs) != SH2_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, sh2_getProdIds() call failed.");
        #endif
        // clang-format on

        return ESP_FAIL;
    }

    // clang-format off
    #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
    print_product_ids(); 
    #endif
    // clang-format on

    if (sh2_setSensorCallback(BNO08xSH2HAL::sensor_event_cb, NULL) != SH2_OK)
        return ESP_FAIL;

    return ESP_OK;
}

/**
 * @brief Deinitializes GPIO, called from deconstructor.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_gpio()
{
    esp_err_t ret = ESP_OK;

    if (init_status.gpio_inputs)
    {
        ret = deinit_gpio_inputs();
        if (ret != ESP_OK)
            return ret;
    }

    if (init_status.gpio_outputs)
    {
        ret = deinit_gpio_outputs();
        if (ret != ESP_OK)
            return ret;
    }

    return ret;
}

/**
 * @brief Deinitializes GPIO inputs, called from deconstructor.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_gpio_inputs()
{
    esp_err_t ret = ESP_OK;

    ret = gpio_reset_pin(imu_config.io_int);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus.");
        #endif
        // clang-format on
    }

    return ret;
}

/**
 * @brief Deinitializes GPIO outputs, called from deconstructor.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_gpio_outputs()
{
    esp_err_t ret = ESP_OK;

    if (imu_config.io_wake != GPIO_NUM_NC)
    {
        ret = gpio_reset_pin(imu_config.io_wake);
        if (ret != ESP_OK)
        {
            // clang-format off
            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
            ESP_LOGE(TAG, "Deconstruction failed, could reset gpio WAKE pin to default state.");
            #endif
            // clang-format on

            return ret;
        }
    }

    ret = gpio_reset_pin(imu_config.io_cs);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Deconstruction failed, could reset gpio CS pin to default state.");
        #endif
        // clang-format on

        return ret;
    }

    ret = gpio_reset_pin(imu_config.io_rst);
    if (ret != ESP_OK)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Deconstruction failed, could reset gpio RST pin to default state.");
        #endif
        // clang-format on

        return ret;
    }

    return ret;
}

/**
 * @brief Deinitializes host interrupt ISR, called from deconstructor.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_hint_isr()
{
    esp_err_t ret = ESP_OK;

    if (init_status.isr_handler)
    {
        ret = gpio_isr_handler_remove(imu_config.io_int);
        if (ret != ESP_OK)
        {
            // clang-format off
            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
            ESP_LOGE(TAG, "Deconstruction failed, could not remove hint ISR handler.");
            #endif
            // clang-format on

            return ret;
        }
    }

    if (init_status.isr_service)
    {
        // only remove the ISR service if it was requested to be installed by user
        if (imu_config.install_isr_service)
        {
            gpio_uninstall_isr_service();
        }
    }

    return ret;
}

/**
 * @brief Deinitializes SPI.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_spi()
{
    esp_err_t ret = ESP_OK;

    if (init_status.spi_device)
    {
        ret = spi_bus_remove_device(spi_hdl);
        if (ret != ESP_OK)
        {
            // clang-format off
            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
            ESP_LOGE(TAG, "Deconstruction failed, could not remove spi device.");
            #endif
            // clang-format on

            return ret;
        }
    }

    if (init_status.spi_bus)
    {
        ret = spi_bus_free(imu_config.spi_peripheral);
        if (ret != ESP_OK)
        {
            // clang-format off
            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
            ESP_LOGE(TAG, "Deconstruction failed, could free SPI peripheral.");
            #endif
            // clang-format on

            return ret;
        }
    }

    return ret;
}

/**
 * @brief Deinitializes tasks used by BNO08x driver.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_tasks()
{
    static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 100UL;
    uint8_t kill_count = 0;
    sh2_SensorEvent_t empty_event;

    sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_init_cnt, 0);

    // signal tasks to commit self-deletion
    xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);

    if (init_status.data_proc_task)
        xQueueSend(queue_rx_sensor_event, &empty_event, 0);

    if (init_status.sh2_HAL_service_task)
        xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT);

    for (uint8_t i = 0; i < init_status.task_init_cnt; i++)
        if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
            kill_count++;

    if (kill_count != init_status.task_init_cnt)
    {
        // clang-format off
        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
        ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
        #endif
        // clang-format on

        return ESP_FAIL;
    }

    return ESP_OK;
}

/**
 * @brief Deinitializes sh2 HAL.
 *
 * @return ESP_OK if deinitialization was success.
 */
esp_err_t BNO08x::deinit_sh2_HAL()
{
    if (init_status.sh2_HAL)
        sh2_close();

    return ESP_OK;
}

/**
 * @brief Hard resets BNO08x sensor.
 *
 * @return void, nothing to return
 */
void BNO08x::hard_reset()
{

    gpio_intr_disable(imu_config.io_int); // disable interrupts before reset

    gpio_set_level(imu_config.io_cs, 1);

    if (imu_config.io_wake != GPIO_NUM_NC)
        gpio_set_level(imu_config.io_wake, 1);

    gpio_set_level(imu_config.io_rst, 0); // set reset pin low
    gpio_intr_enable(imu_config.io_int);  // enable interrupts before bringing out of reset
    vTaskDelay(HARD_RESET_DELAY_MS);      // 10ns min, set to larger delay to let things stabilize(Anton)
    gpio_set_level(imu_config.io_rst, 1); // bring out of reset
}

/**
 * @brief Sends command to enable gravity reports. (See Ref. Manual 6.5.11)
 *
 * @param report_period_us The period/interval of the report in microseconds.
 * @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
 *
 * @return ESP_OK if report was successfully enabled.
 */
bool BNO08x::enable_gravity(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
    if (enable_report(SH2_GRAVITY, time_between_reports, sensor_cfg) != ESP_OK)
    {
        return false;
    }
    else
    {
        user_report_periods.gravity = time_between_reports;
        xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_GRAVITY_BIT_EN);
        return true;
    }
}

/**
 * @brief Sends command to enable linear accelerometer reports. (See Ref. Manual 6.5.10)
 *
 * @param report_period_us The period/interval of the report in microseconds.
 * @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
 *
 * @return ESP_OK if report was successfully enabled.
 */
bool BNO08x::enable_linear_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
    if (enable_report(SH2_LINEAR_ACCELERATION, time_between_reports, sensor_cfg) != ESP_OK)
    {
        return false;
    }
    else
    {
        user_report_periods.linear_accelerometer = time_between_reports;
        xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT_EN);
        return true;
    }
}

/**
 * @brief Sends command to enable accelerometer reports. (See Ref. Manual 6.5.9)
 *
 * @param report_period_us The period/interval of the report in microseconds.
 * @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
 *
 * @return ESP_OK if report was successfully enabled.
 */
bool BNO08x::enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
    if (enable_report(SH2_ACCELEROMETER, time_between_reports, sensor_cfg) != ESP_OK)
    {
        return false;
    }
    else
    {
        user_report_periods.accelerometer = time_between_reports;
        xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_ACCELEROMETER_BIT_EN);
        return true;
    }
}

void BNO08x::get_gravity(float& x, float& y, float& z)
{
    lock_user_data();
    x = data.gravity.x;
    y = data.gravity.y;
    z = data.gravity.z;
    unlock_user_data();
}

float BNO08x::get_gravity_X()
{
    lock_user_data();
    float z = data.gravity.z;
    unlock_user_data();
    return z;
}

float BNO08x::get_gravity_Y()
{
    lock_user_data();
    float y = data.gravity.y;
    unlock_user_data();
    return y;
}

float BNO08x::get_gravity_Z()
{
    lock_user_data();
    float z = data.gravity.z;
    unlock_user_data();
    return z;
}

void BNO08x::get_linear_accel(float& x, float& y, float& z)
{
    lock_user_data();
    x = data.linear_acceleration.x;
    y = data.linear_acceleration.y;
    z = data.linear_acceleration.z;
    unlock_user_data();
}

float BNO08x::get_linear_accel_X()
{
    lock_user_data();
    float x = data.linear_acceleration.x;
    unlock_user_data();
    return x;
}

float BNO08x::get_linear_accel_Y()
{
    lock_user_data();
    float y = data.linear_acceleration.y;
    unlock_user_data();
    return y;
}

float BNO08x::get_linear_accel_Z()
{
    lock_user_data();
    float z = data.linear_acceleration.z;
    unlock_user_data();
    return z;
}

void BNO08x::get_accel(float& x, float& y, float& z)
{
    lock_user_data();
    x = data.acceleration.x;
    y = data.acceleration.y;
    z = data.acceleration.z;
    unlock_user_data();
}

float BNO08x::get_accel_X()
{
    lock_user_data();
    float x = data.acceleration.x;
    unlock_user_data();
    return x;
}

float BNO08x::get_accel_Y()
{
    lock_user_data();
    float y = data.acceleration.y;
    unlock_user_data();
    return y;
}

float BNO08x::get_accel_Z()
{
    lock_user_data();
    float z = data.acceleration.z;
    unlock_user_data();
    return z;
}

/**
 * @brief Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.
 *
 *
 * @return ESP_OK if HINT was asserted.
 */
esp_err_t BNO08x::wait_for_hint()
{
    EventBits_t spi_evt_bits;

    spi_evt_bits = xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, pdTRUE, pdFALSE, HOST_INT_TIMEOUT_DEFAULT_MS);

    if (spi_evt_bits & EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT)
        return ESP_OK;
    else
        return ESP_ERR_TIMEOUT;
}

/**
 * @brief Enables a sensor report such that the BNO08x begins sending it.
 *
 * @param sensor_ID The ID of the sensor for the respective report to be enabled.
 * @param report_period_us The period/interval of the report in microseconds.
 * @param sensor_cfg Sensor special configuration.
 *
 * @return ESP_OK if report was successfully enabled.
 */
esp_err_t BNO08x::enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
    int sh2_res = SH2_ERR;

    lock_sh2_HAL();
    sensor_cfg.reportInterval_us = time_between_reports;
    sh2_res = sh2_setSensorConfig(sensor_ID, &sensor_cfg);
    unlock_sh2_HAL();

    if (sh2_res != SH2_OK)
        return ESP_FAIL;
    else
        return ESP_OK;
}

esp_err_t BNO08x::re_enable_reports()
{
    EventBits_t report_en_bits = xEventGroupGetBits(evt_grp_report_en);

    xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_RESET_OCCURRED);

    if (report_en_bits & EVT_GRP_RPT_GRAVITY_BIT_EN)
        if (!enable_gravity(user_report_periods.gravity))
            return ESP_FAIL;

    if (report_en_bits & EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT_EN)
        if (!enable_linear_accelerometer(user_report_periods.linear_accelerometer))
            return ESP_FAIL;

    if (report_en_bits & EVT_GRP_RPT_ACCELEROMETER_BIT_EN)
        if (!enable_accelerometer(user_report_periods.accelerometer))
            return ESP_FAIL;

    return ESP_OK;
}

/**
 * @brief Registers a callback to execute when new data from a report is received.
 *
 * @param cb_fxn Pointer to the call-back function should be of void return type and void input parameters.
 *
 * @return void, nothing to return
 */
void BNO08x::register_cb(std::function<void()> cb_fxn)
{
    cb_list.push_back(cb_fxn);
}

/**
 * @brief Prints product IDs received at initialization.
 *
 * @return void, nothing to return
 */
void BNO08x::print_product_ids()
{
    for (int i = 0; i < product_IDs.numEntries; i++)
    {
        ESP_LOGI(TAG,
                "Product ID %d Info:                           \n\r"
                "                ---------------------------\n\r"
                "                Product ID: 0x%" PRIx32 "\n\r"
                "                SW Version Major: 0x%" PRIx8 "\n\r"
                "                SW Version Minor: 0x%" PRIx8 "\n\r"
                "                SW Build Number:  0x%" PRIx32 "\n\r"
                "                SW Version Patch: 0x%" PRIx16 "\n\r"
                "                ---------------------------\n\r",
                i, product_IDs.entry->swPartNumber, product_IDs.entry->swVersionMajor, product_IDs.entry->swVersionMinor,
                product_IDs.entry->swBuildNumber, product_IDs.entry->swVersionPatch);
    }
}

/**
 * @brief HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
 *
 * ISR that launches SPI task to perform transaction upon assertion of BNO08x interrupt pin.
 *
 * @return void, nothing to return
 */
void IRAM_ATTR BNO08x::hint_handler(void* arg)
{
    BaseType_t xHighPriorityTaskWoken = pdFALSE;
    BNO08x* imu = (BNO08x*) arg; // cast argument received by gpio_isr_handler_add ("this" pointer to imu object
                                 // created by constructor call)

    // notify any tasks/function calls waiting for HINT assertion
    xEventGroupSetBitsFromISR(imu->evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, &xHighPriorityTaskWoken);
    portYIELD_FROM_ISR(xHighPriorityTaskWoken); // perform context switch if necessary
}