#define M_PI 3.14159265359

#if defined(NATIVE) || defined(_WIN32)
#include <cmath>
#include <fstream>
#include <iostream>
#include <stdexcept> // std::runtime_error
#include <stdio.h>
#include <string>
#include <vector>
#elif defined(TEENSY)
#include <Arduino.h>

int BUILTIN_LED = 13;
unsigned long last, initTime;
#endif

#include "Vehicle.h"
#include "sim.h"

#if defined(NATIVE) || defined(_WIN32)
#include "native.h"
outVector stateVector;
#elif defined(TEENSY)

#include "teensy.h"
#include <HX711.h>
const int lc_clock = 23;

const int lc_data_0 = 14;
const int lc_data_1 = 15;
const int lc_data_2 = 19;
const int lc_data_3 = 20;

void read_lc0();
void read_lc1();
void read_lc2();
void read_lc3();

HX711 lc0;
HX711 lc1;
HX711 lc2;
HX711 lc3;

#endif

Vehicle State;
Vehicle PrevState;

#if defined(NATIVE) || defined(_WIN32)
void setup() {
  init_Vehicle(State);

  // Determine when to burn
  burnStartTimeCalc(State);
}
#elif defined(TEENSY)
void setup() {
  Serial.begin(9600);

  // Configure clock pin with high impedance to protect pin (if this doesn't
  // work, change to OUTPUT)
  pinMode(lc_clock, INPUT);
  // Configure load cell data pins as inputs
  pinMode(lc_data_0, INPUT);
  pinMode(lc_data_1, INPUT);
  pinMode(lc_data_2, INPUT);
  pinMode(lc_data_3, INPUT);
  lc0.begin(lc_data_0, lc_clock);
  lc1.begin(lc_data_1, lc_clock);
  lc2.begin(lc_data_2, lc_clock);
  lc3.begin(lc_data_3, lc_clock);

  // Attach ISRs to load cell data pins to read data when available
  attachInterrupt(digitalPinToInterrupt(lc_data_0), read_lc0, LOW);
  attachInterrupt(digitalPinToInterrupt(lc_data_1), read_lc1, LOW);
  attachInterrupt(digitalPinToInterrupt(lc_data_2), read_lc2, LOW);
  attachInterrupt(digitalPinToInterrupt(lc_data_3), read_lc3, LOW);

  Serial.println("Load Cells Initialized");

  Serial.print("Calibrating");
  lc0.tare();
  Serial.print(".");
  lc1.tare();
  Serial.print(".");
  lc2.tare();
  Serial.print(".");
  lc3.tare();
  Serial.println(".");
  Serial.println("Load Cells Calibrated");

  delay(1000);
  init_Vehicle(State);
  State.lc0 = lc0.get_value();
  State.lc1 = lc1.get_value();
  State.lc2 = lc2.get_value();
  State.lc3 = lc3.get_value();

  Serial.println("Simulated Vehicle Initalized");
  delay(1000);

  // Determine when to burn
  burnStartTimeCalc(State);
  Serial.println("Starting Height Calculated");
  delay(1000);

  initFile();
  delay(1000);

  initTime = micros();
}
#endif

#if defined(NATIVE) || defined(_WIN32)
void loop() {
  vehicleDynamics(State, PrevState);
  thrustInfo(State);
  pidController(State, PrevState);
  TVC(State, PrevState);
  processTVC(State);
  state2vec(State, PrevState, stateVector);

  // Set "prev" values for next timestep
  PrevState = State;
  State.time += State.stepSize;

  if ((State.z < 0.0) && (State.thrustFiring == 2)) {
    write2CSV(stateVector, State);
    printSimResults(State);
    init_Vehicle(State);
  }
}
#elif defined(TEENSY)
void loop() {

  last = micros();
  Serial.println(State.time);
  vehicleDynamics(State, PrevState);
  thrustInfo(State);
  pidController(State, PrevState);
  TVC(State, PrevState);

  processTVC(State);
  delay(2);

  State.stepDuration = micros() - last;
  write2CSV(State);

  // Set "prev" values for next timestep
  PrevState = State;

  // state2vec(State, PrevState, stateVector);

  State.time += State.stepSize;

  if ((State.z < 0.0) && (State.thrustFiring == 2)) {
    Serial.println("Run duration:" + String(micros() - initTime) + " us");

    closeFile();
    delay(20000);

    Serial.println("SUCCESS");
    Serial.println("Aborting Sim");
    teensyAbort();
  }

  delay(20 - ((micros() - last) * 1000.0));
}
#endif

#if defined(_WIN32) || defined(NATIVE)
int main() {

  setup();

  do {
    loop();
  } while ((State.z > 0.0) || (State.thrustFiring != 2));

  return 0;
}
#endif

// ISRs to print data to serial monitor
void read_lc0() { State.lc0 = lc0.get_value(); }

void read_lc1() { State.lc1 = lc1.get_value(); }

void read_lc2() { State.lc2 = lc2.get_value(); }

void read_lc3() { State.lc3 = lc3.get_value(); }