#include "TaskCreator.h"

TaskCreator::TaskCreator() {}

void TaskCreator::Init()
{
    log_i("%s",SOFT_VER);
    mEeprom.Init(mParams.GetParamsVecor());
    mParams.SetParamsVecot(mEeprom.GetParams());
    
    if(mParams.GetValue("CTRL_REBOOT")>0)
    {
        uint16_t idx=mParams.SetParam("CTRL_REBOOT",0);
        mEeprom.WriteParam(idx,0);
    }
    if(mParams.GetValue("CTRL_UPDATE_FW")>0)
    {
        uint16_t idx=mParams.SetParam("CTRL_UPDATE_FW",0);
        mEeprom.WriteParam(idx,0);
        mUpdateServer.InitAndStart();
    }
    else
    {
        CreateTasks();
    }
    log_v("TaskCreator end init");
}

void TaskCreator::CreateTasks() {
    StartTaskEeprom();
    StartTaskMavlinkRx();
    StartTaskMavlinkTx();
    StartTaskStateMachine();
    StartTaskTracker();
    StartTaskRangefinder();
}

uint32_t TaskCreator::GetBaudRate() {
    uint32_t res, baud;
    baud = mParams.GetValue("CTRL_SER_BAUD");

    switch (baud) {
        case 115:  res = 115200; break;
        case 230:  res = 230400; break;
        case 256:  res = 256000; break;
        case 460:  res = 460800; break;
        case 500:  res = 500000; break;
        case 921:  res = 921600; break;
        case 1500: res = 1500000; break;
        default:
            res = 1500000;
            log_w("Baud rate not in range, set 1500000");
            uint16_t idx = mParams.SetParam("CTRL_SER_BAUD", 1500);
            log_w("write to eeprom idx=%i val=%f", idx, mParams.GetValue(idx));
            if (idx != 0xffff) mEeprom.WriteParam(idx, 1500.0);
            break;
    }
    return res;
}

void TaskCreator::StartTaskEeprom() {
    xTaskCreatePinnedToCore(EepromParams::TaskEeprom, "TaskEeprom", 2048, this, 1, nullptr, ARDUINO_RUNNING_CORE);
    vTaskDelay(15);
}

void TaskCreator::StartTaskMavlinkRx() {
    mReciver.Init(GetBaudRate());
    vTaskDelay(15);
    xTaskCreatePinnedToCore(MavlinkReciver::TaskMavlinkRx, "TaskMavlinkRx", 8192, this, 3, nullptr, ARDUINO_RUNNING_CORE);
    vTaskDelay(15);
}

void TaskCreator::StartTaskMavlinkTx() {
    xTaskCreatePinnedToCore(MavlinkTransmitter::TaskMavlinkTx, "TaskMavlinkTx", 8192, this, 3, nullptr, ARDUINO_RUNNING_CORE);
    vTaskDelay(15);
}

void TaskCreator::StartTaskStateMachine() {
    xTaskCreatePinnedToCore(StateMachine::TaskStateMachine, "TaskStateMachine", 16384, this, 2, nullptr, ARDUINO_RUNNING_CORE);
    vTaskDelay(15);
}

void TaskCreator::StartTaskTracker() {
    mTracker.Init(1500000);
    vTaskDelay(15);
    xTaskCreatePinnedToCore(TrackerRxTx::TaskTrackerRxTx, "TaskTrackerRxTx", 4096, this, 3, nullptr, ARDUINO_RUNNING_CORE);
}

void TaskCreator::StartTaskRangefinder() {
    uint8_t rangefinderType = mParams.GetValue("CTRL_RANGE_TYPE");
    if (rangefinderType == 1) {
        xTaskCreatePinnedToCore(Altimiter::AltimiterRxTask, "TaskAltimeterRx", 4096, this, 2, nullptr, ARDUINO_RUNNING_CORE);
    } 
    else if (rangefinderType == 2) {
        xTaskCreatePinnedToCore(NV7Rangefinder::TaskNV7Rangefinder, "TaskNV7Rangefinder", 4096, this, 2, nullptr, ARDUINO_RUNNING_CORE);
    }
    else if (rangefinderType == 3) {
        xTaskCreatePinnedToCore(GRF500::Task, "TaskGRF500Rx", 4096, this, 2, nullptr, ARDUINO_RUNNING_CORE);
    } 
    else if (rangefinderType == 4) {
        xTaskCreatePinnedToCore(NRA15::NRA15RxTask, "TaskNRA15Rx", 4096, this, 2, nullptr, ARDUINO_RUNNING_CORE);
    } 
    else if (rangefinderType == 0) {
        log_i("No rangefinder selected, skip task creation");
    } 
    else {
        log_w("Unknown rangefinder type %d", rangefinderType);
    }
}