/// © MiroZ 2024

#include "app_config.h"
#include "TaskMgr.h"
#include "Sensors.h"

static const char *TAG = "sensors";

#define ms_to_us(ms)(ms*1000)

Sensors::Sensors()
{

}

void Sensors::start()
{
	m_bmp280 = new Bmp280(Wire);
	m_bme68x = new Bme68x(Wire);
	m_ld2410 = new LD2410();

	if(!m_bmp280->init())
		ESP_LOGE(TAG, "bmp280 sensor error");
	
	if(!m_bme68x->init())
		ESP_LOGE(TAG, "bme68x sensor error");

	if(!m_ld2410->init())
		ESP_LOGE(TAG, "ld2410 sensor error");

	assert(m_i2c1_task = TaskMgr::getInstance().createTask(std::bind(&Sensors::run_i2c_1, this), 
		I2C1_TASK_NAME, I2C1_TASK_STACK_SIZE, I2C1_TASK_PRIORITY, I2C1_TASK_CORE));

	assert(m_i2c2_task = TaskMgr::getInstance().createTask(std::bind(&Sensors::run_uart, this), 
		UART_TASK_NAME, UART_TASK_STACK_SIZE, UART_TASK_PRIORITY, UART_TASK_CORE));
}

// handles pressure and voc sensor
void Sensors::run_i2c_1()
{
	while(true)
	{
		// m_bmp280->read();
		// m_bme68x->read();

		delay(10);
	}
}

// handles radar only
void Sensors::run_uart()
{
	int64_t last_read = esp_timer_get_time();

	while(true)
	{
		bool has_read = m_ld2410->read();

		if(has_read && esp_timer_get_time() - last_read >= ms_to_us(990))
		{
			int64_t now = esp_timer_get_time();
			ESP_LOGI(TAG, "count %d", (int)m_ld2410->stationary_energy[0]);

			if(m_ld2410->stationary_energy[0] != 0)
			{
				ESP_LOGI(TAG, "delta t: %lld", (now - last_read)/1000);
				last_read = now;

				ESP_LOGI("stationary energy", "%0.0f %0.0f %0.0f %0.0f %0.0f %0.0f %0.0f", 
				m_ld2410->stationary_energy[3]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[4]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[5]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[6]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[7]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[8]/m_ld2410->stationary_energy[0],
				m_ld2410->stationary_energy[9]/m_ld2410->stationary_energy[0]);
			

				ESP_LOGW("motion energy", "%0.0f %0.0f %0.0f %0.0f %0.0f %0.0f %0.0f %0.0f %0.0f", 
				m_ld2410->motion_energy[5]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[6]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[7]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[8]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[9]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[10]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[11]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[12]/m_ld2410->motion_energy[0],
				m_ld2410->motion_energy[13]/m_ld2410->motion_energy[0]);

				m_ld2410->resetGates();
			}
		}
		if(has_read)	
			// next read will happen in 100ms. sleep untill just before then.
			delay(95);
	}
}