//! This example uses the RP Pico W board Wifi chip (cyw43).
//! Creates an Access point Wifi network and creates a TCP endpoint on port 1234.

#![no_std]
#![no_main]
#![allow(async_fn_in_trait)]

use core::array;
use core::fmt::Formatter;
use core::panic::PanicInfo;
use core::str::from_utf8;

use bt_hci::cmd::info;
use cyw43_pio::PioSpi;
use embassy_rp::i2c::{Async, I2c};
use embassy_rp::pwm::{self, Pwm};
use fixed::FixedU16;
use log::*;
//use embassy_rp::i2c::InterruptHandler;
use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, StackResources};
use embassy_rp::bind_interrupts;
use embassy_rp::clocks::RoscRng;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::usb::Driver;
use embassy_time::{Duration, Timer};
use embedded_io_async::Write;
use rand::RngCore;
use reqwless::response;
use static_cell::StaticCell;
use defmt_rtt as _;

bind_interrupts!(struct Irqs {
    PIO0_IRQ_0 => InterruptHandler<PIO0>;
    USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
});

#[embassy_executor::task]
async fn logger_task(driver: Driver<'static, USB>) {
    embassy_usb_logger::run!(1024, log::LevelFilter::Debug, driver);
}

#[embassy_executor::task]
async fn cyw43_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
    runner.run().await
}

#[embassy_executor::task]
async fn net_task(mut runner: embassy_net::Runner<'static, cyw43::NetDriver<'static>>) -> ! {
    runner.run().await
}

#[panic_handler]
fn panic( info: &PanicInfo) -> ! {
    error!("{}", info);
    loop { }
}

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    info!("Hello World!");

    let p = embassy_rp::init(Default::default());
    let mut rng = RoscRng;

    let driver = Driver::new(p.USB, Irqs);
    spawner.spawn(logger_task(driver)).unwrap();

    let mut c: pwm::Config = Default::default();
    c.divider = 40.into();
    c.top = 62_500; // 20ms
    c.compare_b = 4687; // 1.5ms
    let mut pwm = Pwm::new_output_b(p.PWM_SLICE0, p.PIN_1, c.clone());
    
    let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
    let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");

    // To make flashing faster for development, you may want to flash the firmwares independently
    // at hardcoded addresses, instead of baking them into the program with `include_bytes!`:
    //     probe-rs download 43439A0.bin --binary-format bin --chip RP2040 --base-address 0x10100000
    //     probe-rs download 43439A0_clm.bin --binary-format bin --chip RP2040 --base-address 0x10140000
    //let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) };
    //let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) };

    let pwr = Output::new(p.PIN_23, Level::Low);
    let cs = Output::new(p.PIN_25, Level::High);
    let mut pio = Pio::new(p.PIO0, Irqs);
    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);

    static STATE: StaticCell<cyw43::State> = StaticCell::new();
    let state = STATE.init(cyw43::State::new());
    let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
    defmt::unwrap!(spawner.spawn(cyw43_task(runner)));

    control.init(clm).await;
    control
        .set_power_management(cyw43::PowerManagementMode::PowerSave)
        .await;

    // Use a link-local address for communication without DHCP server
    let config = Config::ipv4_static(embassy_net::StaticConfigV4 {
        address: embassy_net::Ipv4Cidr::new(embassy_net::Ipv4Address::new(169, 254, 1, 1), 16),
        dns_servers: heapless::Vec::new(),
        gateway: None,
    });

    // Generate random seed
    let seed = rng.next_u64();

    // Init network stack
    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
    let (stack, runner) = embassy_net::new(net_device, config, RESOURCES.init(StackResources::new()), seed);

    defmt::unwrap!(spawner.spawn(net_task(runner)));

    //control.start_ap_open("cyw43", 5).await;
    control.start_ap_wpa2("door409", "bell", 5).await;

    let mut rx_buffer = [0; 4096];
    let mut tx_buffer = [0; 4096];
    let mut buf = [0; 4096];

    loop {
        let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
        socket.set_timeout(Some(Duration::from_secs(3)));

        let mut c: pwm::Config = Default::default();
        c.divider = 40.into();
        c.top = 62_500; // 20ms
        // 3125 counts per ms
        c.compare_b = 4687; // 1.5ms
        pwm.set_config(&c);

        control.gpio_set(0, false).await;
        info!("Listening on TCP:1234...");
        if let Err(e) = socket.accept(1234).await {
            warn!("accept error: {:?}", e);
            continue;
        }

        info!("Received connection from {:?}", socket.remote_endpoint());
        control.gpio_set(0, true).await;

        loop {
            let mut n = match socket.read(&mut buf).await {
                Ok(0) => {
                    warn!("read EOF");
                    break;
                }
                Ok(n) => n,
                Err(e) => {
                    warn!("read error: {:?}", e);
                    break;
                }
            };
            

            info!("rxd {}", from_utf8(&buf[..n]).unwrap());
            Timer::after_millis(30).await;

            let mut segs = buf[..n].trim_ascii().split(|c| *c == ' ' as u8);

            match char::from_u32(segs.next().unwrap()[0] as u32).unwrap() {
                'D' => {
                    let pwr: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
                    info!("power {pwr:?}");

                    let pwr = u16::from_be_bytes(pwr);
                    c.compare_b = pwr;
                    info!("power {pwr:?}");
                    pwm.set_config(&c);
                },
                _ => {}
                
            }

            //let mut response: [u8;2] = [0;2];

            //let _ = bus.read_async(0xC0u16, &mut response).await;
            //let _ = hex::encode_to_slice(response, &mut buf);

            match socket.write_all(&buf[..n]).await {
                Ok(()) => {}
                Err(e) => {
                    warn!("write error: {:?}", e);
                    break;
                }
            };
        }
    }
}