/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

#define CAR_GREEN_NORMAL_TIME   5000
#define CAR_GREEN_BLINK_TIME    5000
#define CAR_YELLOW_TIME         1000
#define CAR_RED_TIME            1000

#define PED_GREEN_NORMAL_TIME   5000
#define PED_GREEN_BLINK_TIME    5000

#define BLINK_INTERVAL           500
#define DEBOUNCE_TIME             50

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

uint8_t pedestrian_request = 0;
GPIO_PinState previousButtonState = GPIO_PIN_RESET;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);

/* USER CODE BEGIN PFP */

static void SetLights(GPIO_PinState car_red,
                      GPIO_PinState car_yellow,
                      GPIO_PinState car_green,
                      GPIO_PinState ped_red,
                      GPIO_PinState ped_green);

static void CheckButton(void);
static void WaitWithButton(uint32_t time);

static void CarGreenBlink(void);
static void PedestrianGreenBlink(void);

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* Установка состояния всех ламп. */
static void SetLights(GPIO_PinState car_red,
                      GPIO_PinState car_yellow,
                      GPIO_PinState car_green,
                      GPIO_PinState ped_red,
                      GPIO_PinState ped_green)
{
  HAL_GPIO_WritePin(CAR_RED_GPIO_Port,
                    CAR_RED_Pin,
                    car_red);

  HAL_GPIO_WritePin(CAR_YELLOW_GPIO_Port,
                    CAR_YELLOW_Pin,
                    car_yellow);

  HAL_GPIO_WritePin(CAR_GREEN_GPIO_Port,
                    CAR_GREEN_Pin,
                    car_green);

  HAL_GPIO_WritePin(PED_RED_GPIO_Port,
                    PED_RED_Pin,
                    ped_red);

  HAL_GPIO_WritePin(PED_GREEN_GPIO_Port,
                    PED_GREEN_Pin,
                    ped_green);
}

/* Проверка кнопки с антидребезгом 50 мс. */
static void CheckButton(void)
{
  GPIO_PinState currentState;

  currentState =
      HAL_GPIO_ReadPin(BUTTON_GPIO_Port, BUTTON_Pin);

  /* Обнаружено новое нажатие RESET -> SET. */
  if ((currentState == GPIO_PIN_SET) &&
      (previousButtonState == GPIO_PIN_RESET))
  {
    HAL_Delay(DEBOUNCE_TIME);

    /* Второе считывание через 50 мс. */
    currentState =
        HAL_GPIO_ReadPin(BUTTON_GPIO_Port, BUTTON_Pin);

    if (currentState == GPIO_PIN_SET)
    {
      pedestrian_request = 1;
    }
  }

  previousButtonState = currentState;
}

/* Ожидание с постоянной проверкой кнопки. */
static void WaitWithButton(uint32_t time)
{
  uint32_t startTime = HAL_GetTick();

  while ((HAL_GetTick() - startTime) < time)
  {
    CheckButton();
    HAL_Delay(10);
  }
}

/* Мигание зелёного автомобильного. */
static void CarGreenBlink(void)
{
  uint32_t startTime = HAL_GetTick();

  while ((HAL_GetTick() - startTime) < CAR_GREEN_BLINK_TIME)
  {
    HAL_GPIO_TogglePin(CAR_GREEN_GPIO_Port,
                       CAR_GREEN_Pin);

    WaitWithButton(BLINK_INTERVAL);
  }

  HAL_GPIO_WritePin(CAR_GREEN_GPIO_Port,
                    CAR_GREEN_Pin,
                    GPIO_PIN_RESET);
}

/* Мигание зелёного пешеходного. */
static void PedestrianGreenBlink(void)
{
  uint32_t startTime = HAL_GetTick();

  while ((HAL_GetTick() - startTime) < PED_GREEN_BLINK_TIME)
  {
    HAL_GPIO_TogglePin(PED_GREEN_GPIO_Port,
                       PED_GREEN_Pin);

    HAL_Delay(BLINK_INTERVAL);
  }

  HAL_GPIO_WritePin(PED_GREEN_GPIO_Port,
                    PED_GREEN_Pin,
                    GPIO_PIN_RESET);
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();

  /* USER CODE BEGIN 2 */

  /* Запоминаем исходное состояние кнопки. */
  previousButtonState =
      HAL_GPIO_ReadPin(BUTTON_GPIO_Port, BUTTON_Pin);

  /* Начальное состояние. */
  SetLights(GPIO_PIN_RESET,
            GPIO_PIN_RESET,
            GPIO_PIN_SET,
            GPIO_PIN_SET,
            GPIO_PIN_RESET);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    /* 1. Автомобилям зелёный. */
    SetLights(GPIO_PIN_RESET,
              GPIO_PIN_RESET,
              GPIO_PIN_SET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET);

    WaitWithButton(CAR_GREEN_NORMAL_TIME);

    /* 2. Зелёный автомобилей мигает. */
    CarGreenBlink();

    /* 3. Автомобилям жёлтый. */
    SetLights(GPIO_PIN_RESET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET);

    WaitWithButton(CAR_YELLOW_TIME);

    /* 4. Автомобилям красный. */
    SetLights(GPIO_PIN_SET,
              GPIO_PIN_RESET,
              GPIO_PIN_RESET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET);

    WaitWithButton(CAR_RED_TIME);

    /* 5. Обработка заявки пешехода. */
    if (pedestrian_request)
    {
      /* Пешеходам зелёный. */
      SetLights(GPIO_PIN_SET,
                GPIO_PIN_RESET,
                GPIO_PIN_RESET,
                GPIO_PIN_RESET,
                GPIO_PIN_SET);

      WaitWithButton(PED_GREEN_NORMAL_TIME);

      /* 6. Зелёный пешеходов мигает. */
      PedestrianGreenBlink();

      pedestrian_request = 0;

      /* 7. Пешеходам красный. */
      SetLights(GPIO_PIN_SET,
                GPIO_PIN_RESET,
                GPIO_PIN_RESET,
                GPIO_PIN_SET,
                GPIO_PIN_RESET);
    }

    /* 8. Автомобилям красный и жёлтый. */
    SetLights(GPIO_PIN_SET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET,
              GPIO_PIN_SET,
              GPIO_PIN_RESET);

    WaitWithButton(CAR_YELLOW_TIME);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
  RCC_OscInitStruct.MSICalibrationValue = 0;
  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_5;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK |
                                RCC_CLOCKTYPE_SYSCLK |
                                RCC_CLOCKTYPE_PCLK1 |
                                RCC_CLOCKTYPE_PCLK2;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_MSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct,
                          FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA,
                    CAR_RED_Pin |
                    PED_RED_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB,
                    CAR_YELLOW_Pin |
                    CAR_GREEN_Pin |
                    PED_GREEN_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pins : CAR_RED_Pin PED_RED_Pin */
  GPIO_InitStruct.Pin =
      CAR_RED_Pin |
      PED_RED_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : CAR_YELLOW_Pin CAR_GREEN_Pin PED_GREEN_Pin */
  GPIO_InitStruct.Pin =
      CAR_YELLOW_Pin |
      CAR_GREEN_Pin |
      PED_GREEN_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : BUTTON_Pin */
  GPIO_InitStruct.Pin = BUTTON_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;

  HAL_GPIO_Init(BUTTON_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */

  __disable_irq();

  while (1)
  {
  }

  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT

/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */

  /* USER CODE END 6 */
}

#endif /* USE_FULL_ASSERT */