#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)
    : evt_grp_spi(xEventGroupCreate())
    , 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());

    // delete event groups
    vEventGroupDelete(evt_grp_spi);

    // 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;

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

    return true;
}

/**
 * @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 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)
        return ESP_FAIL;

    init_status.sh2_HAL = true;

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

    if (sh2_getProdIds(&product_ID) != SH2_OK)
        return ESP_FAIL;

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

    sh2_setSensorCallback(BNO08xSH2HAL::sensor_report_cb, NULL);

    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 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 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_spi, EVT_GRP_SPI_HINT_ASSERTED_BIT, pdTRUE, pdFALSE, HOST_INT_TIMEOUT_DEFAULT_MS);

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

/**
 * @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_ID.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_ID.entry->swPartNumber, product_ID.entry->swVersionMajor, product_ID.entry->swVersionMinor,
                product_ID.entry->swBuildNumber, product_ID.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_spi, EVT_GRP_SPI_HINT_ASSERTED_BIT, &xHighPriorityTaskWoken);
    portYIELD_FROM_ISR(xHighPriorityTaskWoken); // perform context switch if necessary
}