//! embassy hello world
//!
//! This is an example of running the embassy executor with multiple tasks
//! concurrently.

//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
//% FEATURES: embassy esp-hal-embassy/integrated-timers

#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]

use embassy_executor::Spawner;
use embassy_time::{Duration, Timer, Instant};
use esp_backtrace as _;
use esp_hal::{
  prelude::*,
  clock::ClockControl,
  peripherals::Peripherals,
  system::SystemControl,
  timer::{timg::TimerGroup, ErasedTimer, OneShotTimer},
  gpio::{Io, Pull, Level, AnyInput, AnyOutput},
};
use esp_println::println;
use static_cell::StaticCell;

struct DistanceSenor {
  trigger: AnyOutput<'static>,
  echo: AnyInput<'static>
}

// When you are okay with using a nightly compiler it's better to use https://docs.rs/static_cell/2.1.0/static_cell/macro.make_static.html
macro_rules! mk_static {
  ($t:ty,$val:expr) => {{
    static STATIC_CELL: StaticCell<$t> = StaticCell::new();
    #[deny(unused_attributes)]
    let x = STATIC_CELL.uninit().write(($val));
    x
  }};
}

#[embassy_executor::task]
async fn sense_distance(mut distance_sensor: DistanceSenor) {
  loop {
    println!("Checking distance");
    distance_sensor.trigger.set_high();
    Timer::after(Duration::from_micros(10)).await;
    distance_sensor.trigger.set_low();
    distance_sensor.echo.wait_for_rising_edge().await;
    let echo_high_start = Instant::now();
    distance_sensor.echo.wait_for_falling_edge().await;
    let echo_dur = Instant::now().duration_since(echo_high_start).as_micros();
    println!("Distance: {:.3}cm", (echo_dur as f64 * 0.017));
    Timer::after(Duration::from_secs(2)).await;
  }
}

#[main]
async fn main(spawner: Spawner) {
  println!("Init!");
  let peripherals = Peripherals::take();
  let system = SystemControl::new(peripherals.SYSTEM);
  let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
  let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);

  let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks, None);
  let timer0: ErasedTimer = timg0.timer0.into();
  let timers = [OneShotTimer::new(timer0)];
  let timers = mk_static!([OneShotTimer<ErasedTimer>; 1], timers);
  esp_hal_embassy::init(&clocks, timers);

  let mut distance_sensor = DistanceSenor {
    trigger: AnyOutput::new(io.pins.gpio15, Level::Low),
    echo: AnyInput::new(io.pins.gpio16, Pull::Up),
  };

  spawner.spawn(sense_distance(distance_sensor)).ok();

  loop {
    println!("Bing!");
    Timer::after(Duration::from_millis(5_000)).await;
  }
}