/*
 * Authors : Kerem Yollu & Edwin Koch
 * Date : 07.03.2021
 *
 * Description : 
 * TODO : Write description or doxygene 
 *
 */

#include <iostream>
#include <stdint.h>
#include <unistd.h>
#include <bitset>
#include <functional>

#include "./management/errorHandling.h"
#include "./management/commandManager.h"

// hardwareinterfaces
#include "./communication/i2c/i2c.hpp"

// drivers
#include "./drivers/bh1750/bh1750.h"
#include "./drivers/pf8574/pf8574lcd.h"
#include "./drivers/pca9685/pca9685.h"
#include "./drivers/mcp4725/mcp4725.hpp"	



#include "./algorithms/bitgestion.h"


#include "./pimpl/interface.hpp"


ErrorHandler errorHandle;
CommandManager commander; 

Device pimplTest; 
I2C i2c;

char char_array[TOTAL_CHAR_CAP];

/*

void dummy() 
{
	uint16_t conf = 0;
	float conv = 0; 
	Ads1015 adc(&i2c,&errorHandle);	
	conf = adc.getConfig(); 
	adc.setOperationMode(ADS1015_MODE_SINGLE);
	adc.setMultiplexer(ADS1015_MUX_AIN0_GND);
	adc.setGain(ADS1015_GAIN_6144);
	adc.writeConfig();
	adc.pointToConvReg();
	conv = adc.getConversion(); 
	conv = (5.0 * conv)/2047.0;
	std::cout << "Convertion " << conv << std::endl; 
	exit(1); 
}

*/

int initPlatform()
{
	//lcd_init(&i2c); 
	return 0; 
}

void pca9685_test()
{
	Pca9685 pwmGenarator(&i2c, &errorHandle);
	pwmGenarator.setOnDutyPercent(0,50);
	for(int i = 3 ; i <= 255; i++)
	{	
		pwmGenarator.setPwmRaw(i);
		strcpy(char_array, "Pwm Freq: ");
		lcd_display_string(1,0,char_array,0); 
		std::string Msg = std::to_string(pwmGenarator.getPwmFreq()); 
		strcpy(char_array, Msg.c_str());
		lcd_display_string(1,10, char_array, 7); 
		strcpy(char_array, "Hz");
		lcd_display_string(1,18, char_array, 7); 
		usleep(200000);
	}
}




void pca9685_motor()
{
	Pca9685 pwmGenarator(&i2c, &errorHandle);
	pwmGenarator.setPwmFreq(1500); 
	strcpy(char_array, "Pwm Freq: ");
	lcd_display_string(1,0,char_array,0); 
	std::string Msg = std::to_string(pwmGenarator.getPwmFreq()); 
	strcpy(char_array, Msg.c_str());
	lcd_display_string(1,10, char_array, 7); 
	strcpy(char_array, "Hz");
	lcd_display_string(1,18, char_array, 7); 
	int i = 0; 	
	for(i = 0 ; i <= 100; i++)
	{
		pwmGenarator.setOnDutyPercent(0,i);
		pwmGenarator.setOnDutyPercent(2,i);
		usleep(20000);
	}
	
	for(i = 100 ; i >= 0; i--)
	{
		pwmGenarator.setOnDutyPercent(0,i);
		pwmGenarator.setOnDutyPercent(2,i);
		usleep(20000);
	}
}


void i_test(const uint8_t&  a, const uint8_t* b, const uint8_t& c)
{
	std::cout << "i_test called" << std::endl;
}

void foo(int baa)
{
	std::cout << "foo called" << std::endl;
}

void mcp4725_test()
{

	uint8_t i = 0;
	std::cout << "mcp4725 dac test" << std::endl;
	
	
	MCP4725 dac(&i2c);
		  
	dac == 0x0000;
	
	for(i = 20 ; i > 0; i--)
	{
		
		std::cout << static_cast<unsigned int>(i) << std::endl;
		std::cout << "on" << std::endl;
		dac = 0xFFFF;
		usleep(2000000);	
		std::cout << "off" << std::endl;
		dac = 0x0000;
		usleep(2000000);

	}
	/*
	MCP4725 dac(//MCP4725::pwrd_md::normal,
	 	    MCP4725::i2c_addr::addr_0x6,
		    std::bind(&foo,  std::placeholders::_1));

*/
	
	//MCP4725::pwrd_md g = MCP4725::pwrd_md::normal;
/*
	MCP4725 dac(MCP4725::i2c_addr::addr_0x6,
		    std::bind(&I2C::writeBuffer,
			    &i2c,
			    std::placeholders::_1,
			    std::placeholders::_2,
			    std::placeholders::_3));
*/

}

void dac_test_1()
{
	uint16_t value = 0;
	
	MCP4725 dac(&i2c);
		  
	std::cout << "set dac value: ";
	std::cin >> value;

	
	dac = value;
		  


}

void dummy() 
{
	pimplTest.printNumber(3); 
}

void bh1750_test()
{
	Bh1750 lightSens(&i2c);
	while(1)
	{
//		std::cout << "value "<< lightSens.continious(BH1750_CONTINUOUS_HIGH_RES_MODE_1,1) << " Lux" <<std::endl; 
		std::string Msg = std::to_string(lightSens.continious(BH1750_CONTINUOUS_HIGH_RES_MODE_1,1)); 
		char char_array[TOTAL_CHAR_CAP];
		strcpy(char_array, Msg.c_str());
		lcd_display_string(2,0, char_array,5); 
		usleep(150*1000);
	}
}
int main(int argc, char *argv[])
{
	// Init 
	initPlatform(); 
	std::cout << "Main Begin" << std::endl;
	commander.addNewCommand("dummy", "The test command for testing the test", dummy);
	commander.addNewCommand("bh1750", "The test command for testing the bh1750", bh1750_test);
	commander.addNewCommand("pca9685", "The test command for testing the pca8695", pca9685_test);
	commander.addNewCommand("motor", "The test command for testing the pca8695", pca9685_motor);
	commander.addNewCommand("dac", "The test command for testing the mcp4725", mcp4725_test);
	commander.addNewCommand("set_dac_val", "The test command for setting the mcp4725 manually", dac_test_1);
	commander(argv[1]); 	
	std::cout << "Main End" << std::endl;

	return 1; 
}