use crate::hardware::channelization::{MCP23017_A_LED, MCP23017_B_LED};
use crate::hardware::initialize;
use crate::hardware::mcp23017::Mcp23017OutputPin;
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Task};
use crate::hardware::Hardware;
use crate::logger::setup_logger;
use crate::on_drop::on_drop;
use anyhow::Result;
use embedded_hal::digital::PinState;
use log::info;
use std::sync::atomic::{AtomicBool, Ordering};
use std::thread;
use std::thread::sleep;
use std::time::Duration;

mod hardware;
mod logger;

pub fn run() -> Result<()> {
    setup_logger()?;
    info!(
        "Project Nautilus Flight Software {}",
        env!("CARGO_PKG_VERSION")
    );

    let hal = initialize()?;

    let mut mcp23017_a = hal.new_mcp23017_a()?;
    let mut mcp23017_b = hal.new_mcp23017_b()?;

    info!("Battery Voltage: {}", hal.get_battery_voltage()?);

    mcp23017_a.init()?;
    mcp23017_b.init()?;

    let running = AtomicBool::new(true);

    thread::scope(|scope| {
        // This will automatically set running to false when it drops
        // This means that if the main thread exits this scope, we will
        // shut down any side branches
        let _shutdown_threads = on_drop(|| running.store(false, Ordering::Relaxed));

        Mcp23017Task::new(&mcp23017_a, "mcp23017-a".into())
            .start(scope, &running, 10)?;

        Mcp23017Task::new(&mcp23017_b, "mcp23017-b".into())
            .start(scope, &running, 10)?;

        let mut led_pin_a = mcp23017_a.new_output_pin(MCP23017_A_LED)?;
        led_pin_a.set_state_on_drop(PinState::Low);
        let mut led_pin_b = mcp23017_b.new_output_pin(MCP23017_B_LED)?;
        led_pin_b.set_state_on_drop(PinState::Low);


        led_pin_a.set_state(PinState::High);
        sleep(Duration::from_secs(1));
        led_pin_b.set_state(PinState::High);
        sleep(Duration::from_secs(1));

        anyhow::Ok(())
    })?;

    info!("Shutting Down");

    // Explicitly drop these to allow the borrow checker to be sure that
    // dropping the hal is safe
    drop(mcp23017_a);
    drop(mcp23017_b);

    drop(hal);

    Ok(())
}

#[cfg(test)]
mod test_utils;
mod data;
mod on_drop;