#include "motorboard.h"
#include <iostream>
#include "PinMonitor.h"
#include "uartregsaccess.h"
#include <iomanip>
#include "stringex.hpp"
#include "config.h"
#include "StopWatch.h"
#include "applog.h"
#include "Capturer.h"

static const std::string loggername = "MotorBoard";


MotorBoard::MotorBoard()
    : devPort(MOTOR_UART),
      m_glue({nullptr, nullptr, nullptr,nullptr,nullptr,nullptr})
{
    LOG_INIT();
    m_uartEnable.reset(new GpioOut(152));
    m_uartEnable->setDirection(Gpio::out);
    // m_uartEnable->setEdge(Gpio::rising);
    //m_uartEnable->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
    m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
    //m_scansensorMonitor.reset(new PinMonitor(149, std::bind(&MotorBoard::scansensor_call, this, std::placeholders::_1)));
    //m_uartEnable->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_os_mode = os_mode();
}
static int paperinnum = 0;
void MotorBoard::start()
{
    keep_last_paper=false;
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0, val);
    smbc->enable = 0;
    write(0, val);
    smbc->enable = 1;
    write(0, val);
    paperinnum =0 ;
}

void MotorBoard::stop()
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0, val);
    smbc->enable = 0;
    write(0, val);
}


void MotorBoard::pick_paper(void)
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0x00, val);
    smbc->pick_paper = 0;
    write(0x00, val);
    smbc->pick_paper = 1;
    write(0x00, val);
    // smbc->pick_paper = 0;
    // write(0x00, val);
}

void MotorBoard::clear_error()
{
    unsigned int val;
    SMBCONFIG *smbc = (SMBCONFIG *)(&val);
    read(0, val);
    smbc->error_clean = 1;
    write(0, val);
    smbc->error_clean = 0;
    write(0, val);
}

bool MotorBoard::wait_paper_in(int timeout_ms)
{
    return cv_paper_in.wait(timeout_ms);
}

bool MotorBoard::wait_paper_out(int timeout_ms)
{
    return cv_paper_out.wait(timeout_ms);
}

bool MotorBoard::wait_error(int timeout_ms)
{
    return cv_error.wait(timeout_ms);
}

bool MotorBoard::wait_done(int timeout_ms)
{
    return cv_scan_done.wait(timeout_ms);
}

int MotorBoard::os_mode()
{
    unsigned int val;
    read(0x02, val);
    SMB_MODE *smb_mode = (SMB_MODE *)&val;
    return smb_mode->scan_mode;
}

bool MotorBoard::paper_ready()
{
    unsigned int val;
    read(0x02, val);
    SMB_MODE *smb_mode = (SMB_MODE *)&val;
    return smb_mode->feeding_paper_ready;
}

bool MotorBoard::is_scanning()
{
    unsigned int val;
    read(0x02, val);
    SMB_MODE *smb_mode = (SMB_MODE *)&val;
    return smb_mode->work_status;
}

int MotorBoard::paper_counter()
{
    unsigned int val;
    read(0x02, val);
    SMBMODE *smb_mode = (SMBMODE *)&val;
    return smb_mode->scan_num;
}

bool MotorBoard::set_paper_inspect_param(unsigned int value /* = 1000 */)
{
    unsigned int val;
    if (!read(0x04, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->error_range_set = value;
    return write(0x04, val);
}

bool MotorBoard::get_keeplastpaper(){
    return keep_last_paper;
}

bool MotorBoard::set_paper_inpect_info(unsigned int value)
{
    unsigned int val;
    if (!read(0x04, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->paper_infor = value;
    return write(0x04, val);
}

bool MotorBoard::set_paper_inspect(bool enable /* = true */)
{
    unsigned int val;
    if (!read(0x04, val))
        return false;
    SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
    smb_config_ext->paper_size_check_en = enable;
    return write(0x04, val);
}

bool MotorBoard::set_double_inpect(bool enable)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->double_paper = enable;
    return write(0x00, val);
}
bool MotorBoard::get_doublle_inpect()
{
}

bool MotorBoard::set_auto_paper(bool enable){
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->paper_auto_module = enable;
    return write(0x00, val);
}

bool MotorBoard::set_staple_inpect(bool enable)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->staple_enable = enable;
    return write(0x00, val);
}

bool MotorBoard::get_staple_inpect()
{
}
bool MotorBoard::set_color_mode(int mode)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->color_mode = mode;
    return write(0x00, val);
}
int MotorBoard::get_color_mode()
{
}

bool MotorBoard::set_speed_mode(int mode)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->speed_set_enable = 1;
    smb_config->v_setting = mode;
    write(0x00, val);
    smb_config->speed_set_enable = 0;
    return    write(0x00, val);
}

int MotorBoard::get_speed_mode()
{
    unsigned int val;
    if (!read(0x00, val))
        return -1;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    return smb_config->v_setting;
}

bool MotorBoard::set_cuospeed(unsigned int speed)
{
    unsigned int val;
    if (!read(0x04, val))
        return -1;
    SMB_CONFIG_EXT *smb_config = (SMB_CONFIG_EXT *)&val;
    smb_config->cuo_speed = speed;
    return write(0x04,val);

}

std::shared_ptr<IRegsAccess> MotorBoard::regs()
{
    return m_regsAccess;
}

static int pinindex=0;
void MotorBoard::pin_call(unsigned int pinNum)
{
    static int index = 0;
    LOG_TRACE(string_format("pin %d", index++));
    int os_m = os_mode();
    if (m_os_mode != os_m)
    {
        m_os_mode = os_m;
        cv_os_mode.notify_all();
        if (m_glue.m_os_mode_call)
            m_glue.m_os_mode_call(m_os_mode);
    }

    if (m_os_mode)
    {
        LOG_TRACE("not scan mode");
        return;
    }

    unsigned int val;
    SMBSTATUS *smb_status = (SMBSTATUS *)&val;
    if (!read(0x01, val))
        LOG_TRACE("read error");
    LOG_TRACE(string_format("status %08x", val));
    //printf("\n reg 1 val =%d",val);
    if(val & 0x800){
         //printf("\n keep_last_paper ");
         keep_last_paper=true;
    }
    if(val & 0x1000)
    {
        if(m_glue.m_set_sleepmode_call)
            m_glue.m_set_sleepmode_call(val & 0xf000);
    }
    if(val & 0x80000)
    {
        if(m_glue.m_mltop_call)
            m_glue.m_mltop_call(val);
    }
    if(smb_status->paper_auto)
    {
        if(m_glue.m_auto_paper)
            m_glue.m_auto_paper(1);
    }
    if (val & 0xAFE)
    {
        cv_error.notify_all();
        if (m_glue.m_error_call)
            m_glue.m_error_call(val & 0x30efe); //0xefe index of 16:aquireimage error index of bit 17 :size check error 

        LOG_TRACE("error");
        return;
    }
    else
    {
        if (!smb_status->scan_pulse)
        {
            cv_paper_in.notify_all();
            LOG_TRACE("paper in");
            printf("\n paper pulse num = %d ", paperinnum++);
        }

        if(smb_status->paper_left)
        {
            cv_paper_out.notify_all();
            LOG_TRACE("paper left");
        }
    }

    if (val & 0x400)
    {
        LOG_TRACE("done");
        cv_scan_done.notify_all();
        if (m_glue.m_scan_done_call)
            m_glue.m_scan_done_call();
    }
}

void MotorBoard::set_capture(std::shared_ptr<ICapturer> cap)
{
    m_cap= cap;
}

void MotorBoard::scansensor_call(unsigned int pinNum)
{
    // static int indexscansensor=0;
    // m_uartEnable->setValue(Gpio::High);
    // LOG_TRACE(string_format(" gpio149 call  times -%d ", indexscansensor++));
    // cv_paper_in.notify_all();
    // m_uartEnable->setValue(Gpio::Low);
}
bool MotorBoard::write(unsigned int addr, unsigned int val)
{
    return m_regsAccess->write(addr, val);
}

bool MotorBoard::read(unsigned int addr, unsigned int &val)
{
    return m_regsAccess->read(addr, val);
}

void MotorBoard::set_callbacks(MotorBoardGlue glue)
{
    m_glue = glue;
}

bool MotorBoard::set_screw_inpect(bool enable)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->skew_enable = enable;
    return write(0x00, val);
}
bool MotorBoard::get_screw_inpect()
{
    unsigned int val;
    read(0x00, val);
    SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
    return smb_mode->skew_enable;
}

bool MotorBoard::set_screw_level(int level)
{
        unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->skew_parameter = level;
    return write(0x00, val);
}

bool MotorBoard::set_long_paper(bool enable)
{
    unsigned int val;
    if (!read(0x00, val))
        return false;
    SMBCONFIG *smb_config = (SMBCONFIG *)&val;
    smb_config->paper = enable;
    return write(0x00, val);
}

int MotorBoard::get_screw_level()
{
    unsigned int val;
    auto ret= read(0x00, val);
    if(!ret)
        return -1;
    SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
    return smb_mode->skew_parameter;
}

bool MotorBoard::en_testbit(bool en)
{
    unsigned int val;
    auto ret= read(0x00, val);
    if(!ret)
        return -1;
    SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
    smb_mode->testbit =  en?1:0;
    return write(0x00,val);
}

void MotorBoard::release_statecontrol()
{
    set_auto_paper(false);
    m_regsAccess.reset();
    m_intPinMonitor.reset();

}

void MotorBoard::init_statecontrol()
{
    m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
    m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    m_os_mode = os_mode();
}