#include "line_sensor_init.h"
#include "ultrasonic_sensor.h"
#include "car_config.h"
#include "motor_init.h"

bool
check_collision(void *params)
{
    car_struct_t *car_struct = (car_struct_t *)params;
    return !(car_struct->obs->line_detected) ||
           car_struct->obs->ultrasonic_detected;
}

void
motor_control_task(void *params)
{
    car_struct_t *car_struct = (car_struct_t *)params;
    for (;;)
    {
        if (check_collision(car_struct))
        {
            spin_left(90, car_struct);

            if (check_collision(car_struct))
            {
                spin_right(180, car_struct);

                if (check_collision(car_struct))
                {
                    spin_right(90, car_struct);
                }
            }
        }
        else
        {
            set_wheel_direction(DIRECTION_FORWARD);
            set_wheel_speed_synced(90u, car_struct);
        }
        vTaskDelay(pdMS_TO_TICKS(5));
    }
}

int
main(void)
{
    stdio_usb_init();

    obs_t obs;

    motor_t     motor_right;
    motor_t     motor_left;
    motor_pid_t pid;

    car_struct_t car_struct = { .p_right_motor = &motor_right,
                                .p_left_motor  = &motor_left,
                                .p_pid         = &pid,
                                .obs = &obs};

    // ultra
    ultrasonic_init(&car_struct);
    ultrasonic_task_init(&car_struct);
    printf("Ultrasonic sensor initialized!\n");

    // line
    line_sensor_init(&car_struct);
    line_tasks_init(&car_struct);
    printf("Line sensor initialized!\n");

    //motor
    motor_init(&car_struct);
    motor_tasks_init(&car_struct, &h_wheel_sensor_isr_handler);
    printf("Motor initialized!\n");

    // control task
    TaskHandle_t h_motor_turning_task_handle = NULL;
    xTaskCreate(motor_control_task,
                "motor_turning_task",
                configMINIMAL_STACK_SIZE,
                (void *)&car_struct,
                PRIO,
                &h_motor_turning_task_handle);

    // PID timer
    struct repeating_timer pid_timer;
    add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer);

    vTaskStartScheduler();

    return (0);
}