#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/i2c.h"
#include "driver/uart.h"
#include "rom/ets_sys.h"


#define LCD_20X04   1

#define I2C_ACK_CHECK_EN      1
#define I2C_ADDRESS_LCD       0x27
#define I2C_SCL_LCD           21
#define I2C_SDA_LCD           22

/* Comandos de la LCD */
#define CLEAR_DISPLAY               0x01
#define RETURN_HOME_UNSHIFT         0x02
#define CURSOR_RIGHT_NO_SHIFT       0x04
#define CURSOR_RIGHT_SHIFT          0x05
#define CURSOR_RIGHT_NO_SHIFT_LEFT  0x06
#define CURSOR_RIGHT_SHIFT_LEFT     0x07
#define DISPLAY_OFF                 0x08
#define DISPLAY_ON_CURSOR_OFF       0x0C
#define DISPLAY_ON_CURSOR_ON_STEADY 0x0E
#define DISPLAY_ON_CURSOR_ON_BLINK  0x0F
#define SHIFT_CURSOR_LEFT           0x10
#define SHIFT_CURSOR_RIGHT          0x14
#define SHIFT_DISPLAY_LEFT          0x18
#define SHIFT_DISPLAY_RIGHT         0x1C
#define SET_4BIT_MODE               0x28
#define RETURN_HOME                 0x80

/* PCF8574 */
#define PCF8574_RS    0
#define PCF8574_RW    1
#define PCF8574_EN    2
#define PCF8574_BL    3

#define LCD_RS_CMD    0
#define LCD_RS_DATA   1

/* UART */
const uart_port_t uart_num = UART_NUM_0;
const int uart_buffer_size = (1024 * 2);
QueueHandle_t uart_queue;
TaskHandle_t HandleTask = NULL;

typedef struct {
  uint8_t i2c_address;
  uint8_t i2c_port;
  uint8_t screen_size;
  uint8_t screen_backlight;
} lcd_i2c_device_t;

void i2c_init(void);
void lcd_init(lcd_i2c_device_t * lcd);
void lcd_i2c_write_byte(lcd_i2c_device_t * lcd, uint8_t data);
void lcd_i2c_write_command(lcd_i2c_device_t * lcd, uint8_t register_select, uint8_t cmd);
void lcd_set_cursor(lcd_i2c_device_t * lcd, uint8_t column, uint8_t row);
void lcd_i2c_write_custom_char(lcd_i2c_device_t * lcd, uint8_t char_address, const uint8_t * pixels);

void i2c_init(void) 
{
  i2c_config_t i2c_config = {
      .mode = I2C_MODE_MASTER,
      .sda_io_num = I2C_SDA_LCD,
      .sda_pullup_en = GPIO_PULLUP_ENABLE,
      .scl_io_num = I2C_SCL_LCD,
      .scl_pullup_en = GPIO_PULLUP_ENABLE,
      .master.clk_speed = 400000,
  };

  esp_err_t error = i2c_param_config(I2C_NUM_1, &i2c_config);
  if (error != ESP_OK) {
        while(1);
    }
  i2c_driver_install(I2C_NUM_1, I2C_MODE_MASTER, 0, 0, 0);
}

void lcd_init(lcd_i2c_device_t * lcd)
{
  lcd_i2c_write_command(lcd, LCD_RS_CMD, RETURN_HOME_UNSHIFT);
  lcd_i2c_write_command(lcd, LCD_RS_CMD, SET_4BIT_MODE);
  lcd_i2c_write_command(lcd, LCD_RS_CMD, CLEAR_DISPLAY);
  lcd_i2c_write_command(lcd, LCD_RS_CMD, DISPLAY_ON_CURSOR_OFF);
  lcd_i2c_write_command(lcd, LCD_RS_CMD, CURSOR_RIGHT_NO_SHIFT_LEFT);
  vTaskDelay(20 / portTICK_PERIOD_MS);
}

void lcd_i2c_write_byte(lcd_i2c_device_t * lcd, uint8_t data)
{
  i2c_cmd_handle_t cmd_handle = i2c_cmd_link_create();
  i2c_master_start(cmd_handle);
  i2c_master_write_byte(cmd_handle, (lcd->i2c_address << 1) | I2C_MASTER_WRITE, I2C_ACK_CHECK_EN);
  i2c_master_write_byte(cmd_handle, data, 1);
  i2c_master_stop(cmd_handle);
  i2c_master_cmd_begin(lcd->i2c_port, cmd_handle, 100 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd_handle);
}

void lcd_i2c_write_command(lcd_i2c_device_t * lcd, uint8_t register_select, uint8_t cmd)
{
  uint8_t config = (register_select)? (1 << PCF8574_RS) : 0;
  config |= (lcd->screen_backlight)? (1 << PCF8574_BL) : 0;

  config |= (config & 0x0F) | (0xF0 & cmd);
  config |= (1 << PCF8574_EN);
  lcd_i2c_write_byte(lcd, config);
  ets_delay_us(10);
  config &= ~(1 << PCF8574_EN);
  lcd_i2c_write_byte(lcd, config);
  ets_delay_us(50);

  config = (config & 0x0F) | (cmd << 4);
  config |= (1 << PCF8574_EN);
  lcd_i2c_write_byte(lcd, config);
  ets_delay_us(10);
  config &= ~(1 << PCF8574_EN);
  lcd_i2c_write_byte(lcd, config);
  ets_delay_us(50);

  if (cmd == CLEAR_DISPLAY)
  {
    vTaskDelay(20 / portTICK_PERIOD_MS);
  }
}

void lcd_set_cursor(lcd_i2c_device_t * lcd, uint8_t column, uint8_t row)
{
  switch (row) {
    case 0:
      lcd_i2c_write_command(lcd, LCD_RS_CMD, 0x80 + column);
      break;
    case 1:
      lcd_i2c_write_command(lcd, LCD_RS_CMD, 0xC0 + column);
      break;
    case 2:
      lcd_i2c_write_command(lcd, LCD_RS_CMD, 0x94 + column);
      break;
    case 3:
      lcd_i2c_write_command(lcd, LCD_RS_CMD, 0xD4 + column);
      break;
    default:
      break;
  }
}

void lcd_i2c_write_custom_char(lcd_i2c_device_t * lcd, uint8_t address, const uint8_t * pixels)
{
  lcd_i2c_write_command(lcd, LCD_RS_CMD, 0x40 | (address << 3));

  for (uint8_t i = 0; i < 8; i++)
  {
    lcd_i2c_write_command(lcd, LCD_RS_DATA, pixels[i]);
  }

  lcd_i2c_write_command(lcd, LCD_RS_CMD, RETURN_HOME);
}

void lcd_i2c_print_msg(lcd_i2c_device_t * lcd, char * msg)
{
  uint8_t i = 0;

  while (msg[i] != '\0')
  {
    lcd_i2c_write_command(lcd, LCD_RS_DATA, msg[i++]);
  }
}

void uartInit(){
  uart_config_t uart_config = {
    .baud_rate = 115200,
    .data_bits = UART_DATA_8_BITS,
    .parity = UART_PARITY_DISABLE,
    .stop_bits = UART_STOP_BITS_1,
    .flow_ctrl = UART_HW_FLOWCTRL_CTS_RTS,
    .rx_flow_ctrl_thresh = 122,
};
// Configure UART parameters
ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));

// Install UART driver using an event queue here
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_0, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
}

void uartPuts(char data[]){
  uart_write_bytes(uart_num, (const char*)data, strlen(data));
}

void uartGets(uint8_t data[]){
  // Read data from UART.
  int length = 0;

  while(!length){
    ESP_ERROR_CHECK(uart_get_buffered_data_len(uart_num, (size_t*)&length));
  }

  length = uart_read_bytes(uart_num, data, length, 100);
  data[length-1]=0;
}

void printMatrixToUART(int rows, int cols, int campo[rows][cols]) {
    char buffer[100]; // Buffer para construir las filas como cadenas
    for (int r = 0; r < rows; r++) {
        int index = 0;
        for (int c = 0; c < cols; c++) {
            index += snprintf(&buffer[index], sizeof(buffer) - index, "%d ", campo[r][c]);
        }
        buffer[index] = '\0'; // Asegura que el buffer termina en un nulo
        uartPuts(buffer);     // Envía la fila como una línea de texto
        uartPuts("\n");       // Nueva línea después de cada fila
    }
    uartPuts("\n");           // Línea vacía después de la matriz
}

void vTaskCode( void * pvParameters )
{
  char Ren[10];
  char Col[10];
  char Rut[10];
  char ruta_[10];

    lcd_i2c_device_t my_lcd = {
    .i2c_port = I2C_NUM_1,
    .i2c_address = I2C_ADDRESS_LCD,
    .screen_size = LCD_20X04,
    .screen_backlight = 1,
  };

  vTaskDelay(20 / portTICK_PERIOD_MS);
  lcd_init(&my_lcd);

  while(true){
  uartPuts("Renglones: \n");
  uartGets((uint8_t*)Ren);
  int Renglones = atoi(Ren);

  uartPuts("Columnas: \n");
  uartGets((uint8_t*)Col);
  int Columnas = atoi(Col);

  uartPuts("Rutas: \n");
  uartGets((uint8_t*)Rut);
  int Rutas = atoi(Rut);

  // Crear la matriz del campo
  int campo[Renglones][Columnas];
  memset(campo, 0, sizeof(campo)); // Inicializar todo a 0 (disponible)

  for(int i = 0;i < Rutas;i++){
    uartPuts("r c1 c2\n");
    uartGets((uint8_t*)ruta_);
    int r, c1, c2;

    sscanf(ruta_, "%d %d %d",&r,&c1,&c2);
    
    for(int p = c1; p <= c2;p++){
      campo[r][p] = 1;
    }
  }

  int dispo = 0;
  for(int r = 0; r < Renglones;r++){
    for(int c = 0; c < Columnas;c++){
      if(campo[r][c] == 0){
        dispo++;
      }
    }
  }

    char Resul[30];
    snprintf(Resul, sizeof(Resul), "Celdas libres: %d", dispo);
    
    lcd_set_cursor(&my_lcd, 0, 0); // Mover el cursor al inicio
    lcd_i2c_print_msg(&my_lcd, Resul);

    printMatrixToUART(Renglones, Columnas, campo);

    vTaskSuspend( HandleTask );
  }
}



#define SMILE        5
#define DROP         2


void app_main()
{
  i2c_init();
  uartInit();


  lcd_i2c_device_t my_lcd = {
    .i2c_port = I2C_NUM_1,
    .i2c_address = I2C_ADDRESS_LCD,
    .screen_size = LCD_20X04,
    .screen_backlight = 1,
  };

  vTaskDelay(20 / portTICK_PERIOD_MS);
  lcd_init(&my_lcd);



  char message[] = {'H', 'o', 'l', 'a', ' ', 'M', 'u', 'n', 'd', 'o', 0};

  //lcd_i2c_print_msg(&my_lcd, message);

  uartPuts("Hola Alain. \n");

  xTaskCreate( vTaskCode, "vTaskCode", 2*(2*1024), NULL, 1, NULL );

    vTaskDelay(250 / portTICK_PERIOD_MS);
  }