use core::marker::PhantomData;
use super::{gpio, sys_timer, usb};
use crate::laser_diode::current_sources::{*};
use crate::laser_diode::ld_drive::{self, LdDrive};
use crate::thermostat::max1968::MAX1968;
use crate::thermostat::thermostat::Thermostat;
use fugit::ExtU32;
use log::info;
use stm32f4xx_hal::{
    pac::{CorePeripherals, Peripherals},
    rcc::RccExt,
    time::MegaHertz,
    watchdog::IndependentWatchdog,
};

use uom::si::{electric_current::ampere, f64::ElectricCurrent};

#[cfg(not(feature = "semihosting"))]
const WATCHDOG_PERIOD: u32 = 1000;
#[cfg(feature = "semihosting")]
const WATCHDOG_PERIOD: u32 = 30000;

pub fn bootup(
    mut core_perif: CorePeripherals,
    perif: Peripherals,
) -> (IndependentWatchdog, LdDrive, Thermostat) {
    core_perif.SCB.enable_icache();
    core_perif.SCB.enable_dcache(&mut core_perif.CPUID);

    let clocks = perif
        .RCC
        .constrain()
        .cfgr
        .use_hse(MegaHertz::from_raw(8).convert())
        .sysclk(MegaHertz::from_raw(168).convert())
        .hclk(MegaHertz::from_raw(168).convert())
        .pclk1(MegaHertz::from_raw(32).convert())
        .pclk2(MegaHertz::from_raw(64).convert())
        .freeze();

    sys_timer::setup(core_perif.SYST, clocks);

    let (_eth_pins, usb, current_source_phy, max1968_phy) = gpio::setup(
        clocks,
        perif.TIM4,
        perif.GPIOA,
        perif.GPIOB,
        perif.GPIOC,
        perif.GPIOD,
        perif.GPIOG,
        perif.SPI1,
        perif.SPI2,
        perif.OTG_FS_GLOBAL,
        perif.OTG_FS_DEVICE,
        perif.OTG_FS_PWRCLK,
    );

    usb::State::setup(usb);

    let current_source = CurrentSource::new(current_source_phy, perif.ADC2);
    
    let mut laser = LdDrive::new(current_source);
    laser.setup();
    laser.ld_open();
    laser.power_up();

    laser.ld_set_i(ElectricCurrent::new::<ampere>(0.15));

    // Set a non-zero value so that there is a non NAN power reading
    laser.set_pd_i_to_out_pwr(ld_drive::IToPowerUnit {dimension: PhantomData, units: PhantomData, value: 0.001});

    let tec_driver = MAX1968::new(max1968_phy, perif.ADC1);

    let mut thermostat = Thermostat::new(tec_driver);
    thermostat.setup();
    thermostat.set_i(ElectricCurrent::new::<ampere>(1.0));
    thermostat.power_up();

    let mut wd = IndependentWatchdog::new(perif.IWDG);
    wd.start(WATCHDOG_PERIOD.millis());
    wd.feed();

    info!("Kirdy setup complete");

    (wd, laser, thermostat)
}