#pragma once

#include <stm32f1xx_hal.h>

#include <array>
#include <string_view>

#include "stm32f1xx_it.h"

// USART 1
constexpr auto UART_PORT = GPIOA_BASE;
#define UARTPORT GPIOA
#define UARTTX_PIN GPIO_PIN_9
#define UARTRX_PIN GPIO_PIN_10

// USART 2
constexpr auto UART2_PORT = GPIOA_BASE;
#define UART2PORT GPIOA
#define UART2TX_PIN GPIO_PIN_2
#define UART2RX_PIN GPIO_PIN_3

/*
 * small uart wrapper
 * assumes USART1 with default pins/port
 */
enum class UartMode : uint8_t {
  Blocking = 0,
  Interrupt,
  DMA,
};

template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
          UartMode M = UartMode::Interrupt, uint16_t Size = 1>
struct uart_handler {
  static void enable_clocks() {
    if constexpr (UsartBase == USART1_BASE) {
      __HAL_RCC_USART1_CLK_ENABLE();
    } else if constexpr (UsartBase == USART2_BASE) {
      __HAL_RCC_USART2_CLK_ENABLE();
    }

    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_AFIO_CLK_ENABLE();
  }

  static void init_gpio() {
    GPIO_InitTypeDef ua_tx;
    GPIO_InitTypeDef ua_rx;

    ua_tx.Pin = pin_tx;
    ua_tx.Mode = GPIO_MODE_AF_PP;
    ua_tx.Speed = GPIO_SPEED_HIGH;

    ua_rx.Pin = pin_rx;
    ua_rx.Mode = GPIO_MODE_INPUT;
    ua_rx.Speed = GPIO_SPEED_HIGH;

    HAL_GPIO_Init(reinterpret_cast<GPIO_TypeDef*>(port), &ua_tx);
    HAL_GPIO_Init(reinterpret_cast<GPIO_TypeDef*>(port), &ua_rx);

    // if constexpr (UsartBase == USART1_BASE) {
    //   /* USART1 interrupt Init */
    //   HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
    //   HAL_NVIC_EnableIRQ(USART1_IRQn);
    // }

    ///* USART2 interrupt Init */
    // HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
    // HAL_NVIC_EnableIRQ(USART2_IRQn);
  }

  static void init_mode() {
    if (M == UartMode::Blocking) {
      return;  // nothing to od
    }

    if constexpr (M == UartMode::Interrupt) {
      constexpr auto GlobalInterrupt = [](auto Base) {
        if (Base == USART1_BASE) {
          return USART1_IRQn;
        }
        if (Base == USART2_BASE) {
          return USART2_IRQn;
        }
      }(UsartBase);

      HAL_NVIC_SetPriority(GlobalInterrupt, 0, 0);
      HAL_NVIC_EnableIRQ(GlobalInterrupt);

      HAL_UART_Receive_IT(&s_UARTHandle, &rx_buff, rx_buff_size);
      return;
    }
    if constexpr (M == UartMode::DMA) {
      /* DMA controller clock enable */
      __HAL_RCC_DMA1_CLK_ENABLE();
      __HAL_RCC_AFIO_CLK_ENABLE();
      __HAL_RCC_PWR_CLK_ENABLE();

      /* System interrupt init*/

      /** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
       */
      __HAL_AFIO_REMAP_SWJ_NOJTAG();

      /* DMA interrupt init */
      /* DMA1_Channel6_IRQn interrupt configuration */
      HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);

      s_DMAHandle.Instance = DMA1_Channel6;
      s_DMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
      s_DMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
      s_DMAHandle.Init.MemInc = DMA_MINC_ENABLE;
      s_DMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
      s_DMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
      s_DMAHandle.Init.Mode = DMA_NORMAL;
      s_DMAHandle.Init.Priority = DMA_PRIORITY_LOW;
      write("TRY DMA INIT");
      if (HAL_DMA_Init(&s_DMAHandle) != HAL_OK) {
        write("FAILED");
        // Error_Handler();
      }

      __HAL_LINKDMA(&s_UARTHandle, hdmarx, s_DMAHandle);

      /* USART1 interrupt Init */
      HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(USART2_IRQn);

      HAL_DMA_Start_IT(
          &s_DMAHandle, reinterpret_cast<uint32_t>(&s_UARTHandle.Instance->DR),
          reinterpret_cast<uint32_t>(new_rx_buf.data()), new_rx_buf.size());

      HAL_UARTEx_ReceiveToIdle_DMA(&s_UARTHandle, new_rx_buf.data(),
                                   new_rx_buf.size());
      __HAL_DMA_DISABLE_IT(&s_DMAHandle, DMA_IT_HT);
    }
  }

  static bool enable_oscillators() {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
      return false;
    }

    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
                                  RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
      return false;
    }

    return true;
  }

  static bool init_uart_handle() {
    s_UARTHandle.Instance = reinterpret_cast<USART_TypeDef*>(usart_base);
    s_UARTHandle.Init.BaudRate = 9600;
    s_UARTHandle.Init.WordLength = UART_WORDLENGTH_8B;
    s_UARTHandle.Init.StopBits = UART_STOPBITS_1;
    s_UARTHandle.Init.Parity = UART_PARITY_NONE;
    s_UARTHandle.Init.Mode = UART_MODE_TX_RX;
    s_UARTHandle.Init.HwFlowCtl = UART_HWCONTROL_NONE;

    auto result = HAL_UART_Init(&s_UARTHandle);

    if (result != HAL_OK) {
      return false;
    }

    return result == HAL_OK;
  }

  static bool init() {
    enable_clocks();
    init_gpio();
    if (!enable_oscillators()) {
      return false;
    }

    auto result = init_uart_handle();
    init_mode();
    return result;
  }

  static HAL_StatusTypeDef write(const std::string_view& message,
                                 uint32_t timeout = HAL_MAX_DELAY) {
    return write(reinterpret_cast<uint8_t*>(const_cast<char*>(message.data())),
                 message.size(), timeout);
  }

  static HAL_StatusTypeDef write(uint8_t* buf, uint16_t size,
                                 uint32_t timeout = HAL_MAX_DELAY) {
    return HAL_UART_Transmit(&s_UARTHandle, buf, size, timeout);
  }

  static UART_HandleTypeDef s_UARTHandle;
  static DMA_HandleTypeDef s_DMAHandle;

  static uint8_t* get_buf() { return &rx_buff; }
  static const uint8_t* get_buf_c() { return &rx_buff; }
  static std::array<uint8_t, Size> new_rx_buf;

 private:
  static constexpr auto pin_tx = PinTX;
  static constexpr auto pin_rx = PinRX;
  static constexpr auto port = Port;
  static constexpr auto usart_base = UsartBase;
  static constexpr size_t rx_buff_size = 1;
  static uint8_t rx_buff;
};

template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
          UartMode M, uint16_t Size>
DMA_HandleTypeDef uart_handler<PinTX, PinRX, Port, UsartBase, M,
                               Size>::s_DMAHandle = DMA_HandleTypeDef();

template <uint16_t PinTX, uint16_t PinRX, uint32_t Port, uint32_t UsartBase,
          UartMode M, uint16_t Size>
UART_HandleTypeDef uart_handler<PinTX, PinRX, Port, UsartBase, M,
                                Size>::s_UARTHandle = UART_HandleTypeDef();

using uart_interface = uart_handler<UARTTX_PIN, UARTRX_PIN, UART_PORT,
                                    USART1_BASE, UartMode::Interrupt>;

using gps_interface = uart_handler<UART2TX_PIN, UART2RX_PIN, UART2_PORT,
                                   USART2_BASE, UartMode::DMA, 256>;