use core::sync::atomic::AtomicU8;

use embassy_rp::clocks::RoscRng;

use embassy_rp::pwm;
use embassy_time::Timer;
use rand::RngCore;

use crate::scanner::LOCKOUT;

pub static WAGS: AtomicU8 = AtomicU8::new(0);

use embassy_rp::pwm::Pwm;

use embassy_rp::peripherals::PIN_27;

use embassy_rp::peripherals::PIN_26;

use embassy_rp::peripherals::PWM_SLICE5;

#[embassy_executor::task]
pub async fn wiggle_manager(pwm: PWM_SLICE5, head: PIN_26, tail: PIN_27) -> ! {
    let mut c: pwm::Config = Default::default();
    c.divider = 40.into();
    c.top = 62_500; // 20ms
    c.compare_a = 4687; // 1.5ms
    c.compare_b = 4687; // 1.5ms
    let mut pwm = Pwm::new_output_ab(pwm, head, tail, c.clone());

    loop {
        let mut wags;
        loop {
            // atomics aren't actually real
            wags = WAGS.load(core::sync::atomic::Ordering::SeqCst);
            if wags != 0 {
                WAGS.store(0, core::sync::atomic::Ordering::SeqCst);
                LOCKOUT.store(true, core::sync::atomic::Ordering::SeqCst);
                break;
            }

            c.compare_b = 6248;
            pwm.set_config(&c);

            Timer::after_millis(50).await;
            LOCKOUT.store(false, core::sync::atomic::Ordering::SeqCst);
        }

        let positions = [6200,4800,6248,4700, 5500];

        let mut rng = RoscRng;
        for _ in 0..wags {

            let idx = rng.next_u32();
            c.compare_b = positions[idx as usize % positions.len()];
            pwm.set_config(&c);

            Timer::after_millis(idx as u64 % 600).await;
        }
    }
}