#include "common/memory.hpp"
#include "sensor/calibration.hpp"
#include "sensor/sensor.hpp"
#include "serial.hpp"

#include <Arduino.h>
#include <Wire.h>
#include <XInput.h>

constexpr uint8_t SENSOR_ADDRESS = 0x68U;
constexpr uint32_t SENSOR_THROTTLE_TIME = 50U; // milliseconds
constexpr uint32_t SENSOR_RETRY_TIME = 2000U;  // milliseconds

constexpr uint32_t BAUD_RATE = 9600U;

auto sout = SerialStream(Serial_(), BAUD_RATE);

auto sensor = Sensor(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);

void setup()
{
	sout.waitReady();

	while (!sensor.begin())
	{
		sout << "Error: Could not connect to the sensor. Retrying after 2000 "
				"milliseconds..."
			 << endl;

		delay(SENSOR_RETRY_TIME);
	}

	if (!sensor.setAccelSensitivity(2)) // 8g
	{
		sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
			 << static_cast<int>(sensor.getStatus()) << endl;

		stop();
	}

	if (!sensor.setGyroSensitivity(1)) // 500 degrees/s
	{
		sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
			 << static_cast<int>(sensor.getStatus()) << endl;

		stop();
	}

	sout << "Calibrating sensor..." << endl;

	SensorCalibrator sensor_calibrator(sensor, sout);

	if (!sensor_calibrator.calibrate(SENSOR_THROTTLE_TIME))
	{
		sout << "Error: Sensor calibration timed out after " << CALIBRATION_TIMEOUT
			 << " milliseconds" << endl;

		stop();
	}

	sout << "Finished calibrating sensor\n";

	sout << "Calibration values:\n"
		 << "Accelerometer X: " << sensor.accel_cal_x << "\n"
		 << "Accelerometer Y: " << sensor.accel_cal_y << "\n"
		 << "Accelerometer Z: " << sensor.accel_cal_z << "\n"
		 << "Gyro X: " << sensor.gyro_cal_x << "\n"
		 << "Gyro Y: " << sensor.gyro_cal_y << "\n"
		 << "Gyro Z: " << sensor.gyro_cal_z << "\n";

	sout << "Starting..." << endl;

	XInput.begin();
}

void loop()
{
	delay(SENSOR_THROTTLE_TIME);

	if (!sensor.read())
	{
		SensorStatus status = sensor.getStatus();

		if (status == SensorStatus::THROTTLED)
		{
			sout << "Warning: The sensor was read too frequently and throttled" << endl;
			return;
		}

		sout << "Error: Failed to read sensor. Status: " << static_cast<int>(status)
			 << endl;
		stop();
	}

	sout << "Pitch: " << sensor.getPitch() << "    Roll: " << sensor.getRoll() << endl;

	XInput.setJoystick(JOY_LEFT, static_cast<int32_t>(sensor.getRoll()),
					   static_cast<int32_t>(sensor.getPitch()));
	XInput.printDebug(Serial);
}