#include "battery.h"
#define ADBMS_NO_LOGGING_DEFS // fix conflicting defines
#include "ADBMS_Driver.h"
#include "NTC.h"
#include "can.h"
#include "config_ADBMS6830.h"
#include "ts_state_machine.h"
#include <string.h>
#include <math.h>
#include "main.h"

#define SWO_LOG_PREFIX "[BATTERY] "
#include "swo_log.h"

#define MAX_ERRORS                4 // max number of errors in window before panic
#define MAX_ERRORS_WINDOW_SIZE   16 // size of the error window for error detection

#define MAX_TEMP 60 // max temperature in C

typeof(battery) battery = {};

static bool error_window[MAX_ERRORS_WINDOW_SIZE] = {};
static size_t error_window_index = 0;
static size_t error_count = 0;

static inline void update_error_window(bool error, int id) {
  error_count -= error_window[error_window_index] ? 1 : 0; 
  error_count += error ? 1 : 0;

  if (error_count >= MAX_ERRORS) {
    can_send_error(TS_ERRORKIND_SLAVE_PANIC, id);
    ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, true);
  } else {
    ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, false);
  }

  error_window[error_window_index] = error;
  error_window_index += 1;
  error_window_index %= MAX_ERRORS_WINDOW_SIZE;
}

HAL_StatusTypeDef battery_init(SPI_HandleTypeDef *hspi) {
    // pull MSTR High for Microcontroller mode ADBMS6822
    HAL_GPIO_WritePin(MSTR1_GPIO_Port, MSTR1_Pin, GPIO_PIN_SET);
    auto const ret = AMS_Init(hspi);
    if (ret.status != ADBMS_NO_ERROR) {
        debug_log(LOG_LEVEL_ERROR, "Failed to initialize BMS: %s",
                  ADBMS_Status_ToString(ret.status));
        if (ret.bms_id != -1) {
            debug_log_cont(LOG_LEVEL_ERROR, " (on BMS ID: %hd)", ret.bms_id);
        }
        return HAL_ERROR;
    }
    
    // Initialize battery structure with default values
    for (size_t i = 0; i < N_BMS; i++) {
        battery.module[i].chip = &bms_data[i];
        for (size_t j = 0; j < 10; j++) {
            battery.module[i].cellTemps[j] = 0;
        }
    }
    battery.pack.soc = 0.0f;
    battery.pack.min_voltage = 0xFFFF;
    battery.pack.max_voltage = 0;
    battery.pack.min_temp = INT16_MAX;
    battery.pack.max_temp = INT16_MIN;
    
    debug_log(LOG_LEVEL_INFO, "Battery initialized successfully");
    return HAL_OK;
}

[[gnu::optimize("no-math-errno")]]
HAL_StatusTypeDef battery_update() {
  auto const ret = AMS_Idle_Loop();
  if (ret.status != ADBMS_NO_ERROR) {
    debug_log(LOG_LEVEL_ERROR, "Error while updating battery data: %s",
              ADBMS_Status_ToString(ret.status));
    if (ret.bms_id != -1) {
      debug_log_cont(LOG_LEVEL_ERROR, " (on BMS ID: %hd)", ret.bms_id);
    }

    if (ret.status == ADBMS_OVERVOLT || ret.status == ADBMS_UNDERVOLT) {
      if (ret.bms_id != -1 && ret.bms_id < N_BMS) {
        const char* error_type = (ret.status == ADBMS_OVERVOLT) ? "overvoltage" : "undervoltage";
        const uint32_t voltage_flags = (ret.status == ADBMS_OVERVOLT) ?
                                bms_data[ret.bms_id].overVoltage : 
                                bms_data[ret.bms_id].underVoltage;
        
        debug_log(LOG_LEVEL_ERROR, "Cell %s detected on module %d, affected cells: ", 
                  error_type, ret.bms_id);
        
        for (size_t cell = 0; cell < N_CELLS; cell++) {
          if (voltage_flags & (1UL << cell)) {
            debug_log_cont(LOG_LEVEL_ERROR, "%u (%d mV) ", cell, bms_data[ret.bms_id].cellVoltages[cell]);
          }
        }

        if (!voltage_flags) {
          debug_log_cont(LOG_LEVEL_ERROR, "none (something went wrong?)");
        }
      }
    }
    
    update_error_window(true, ret.bms_id);
    return HAL_ERROR;
  }

  update_error_window(false, ret.bms_id);
  
  battery.pack.min_voltage = 0xFFFF;
  battery.pack.max_voltage = 0;
  battery.pack.min_temp = INT16_MAX;
  battery.pack.max_temp = INT16_MIN;

  for (size_t i = 0; i < N_BMS; i++) {
    // Initialize min/max indices for this module
    battery.module[i].min_v_idx = 0;
    battery.module[i].max_v_idx = 0;
    battery.module[i].min_t_idx = 0;
    battery.module[i].max_t_idx = 0;
    
    // Track min/max voltages
    for (size_t j = 0; j < N_CELLS; j++) {
      if (bms_data[i].cellVoltages[j] < battery.pack.min_voltage) {
        battery.pack.min_voltage = bms_data[i].cellVoltages[j];
      }
      if (bms_data[i].cellVoltages[j] > battery.pack.max_voltage) {
        battery.pack.max_voltage = bms_data[i].cellVoltages[j];
      }
      
      // Update min/max voltage indices for this module
      if (bms_data[i].cellVoltages[j] < bms_data[i].cellVoltages[battery.module[i].min_v_idx]) {
        battery.module[i].min_v_idx = j;
      }
      if (bms_data[i].cellVoltages[j] > bms_data[i].cellVoltages[battery.module[i].max_v_idx]) {
        battery.module[i].max_v_idx = j;
      }
    }

    // Process temperature values
    for (size_t j = 0; j < 10; j++) { //10 GPIOs
      battery.module[i].cellTemps[j] = ntc_mv_to_celsius(bms_data[i].auxVoltages[j]);

      
      // For new battery struct
      if (battery.module[i].cellTemps[j] > battery.pack.max_temp) {
        battery.pack.max_temp = battery.module[i].cellTemps[j];
      }
      if (battery.module[i].cellTemps[j] < battery.pack.min_temp) {
        battery.pack.min_temp = battery.module[i].cellTemps[j];
      }
      
      // Update min/max temperature indices for this module
      if (battery.module[i].cellTemps[j] < battery.module[i].cellTemps[battery.module[i].min_t_idx]) {
        battery.module[i].min_t_idx = j;
      }
      if (battery.module[i].cellTemps[j] > battery.module[i].cellTemps[battery.module[i].max_t_idx]) {
        battery.module[i].max_t_idx = j;
      }

      // Check for overtemperature condition
      if (battery.module[i].cellTemps[j] > (MAX_TEMP * (uint16_t)(TEMP_CONV))) {
        debug_log(LOG_LEVEL_ERROR, "Cell %u on BMS %u overtemp: %d0 mC", j, i, battery.module[i].cellTemps[j]);
        can_send_error(TS_ERRORKIND_CELL_OVERTEMP, i);
        ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_CELL_OVERTEMP, true);
      } else {
        ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_CELL_OVERTEMP, false);
      }
    }
  }

  return HAL_OK;
}