/*
 * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "esp_log.h"
#include "esp_heap_caps.h"
#include "esp_lcd_mipi_dsi.h"
#include "esp_lcd_panel_ops.h"
#include "esp_lcd_ili9881c.h"
#include "esp_ldo_regulator.h"
#include "esp_cache.h"
#include "driver/i2c_master.h"
#include "driver/isp.h"
#include "isp_af_scheme_sa.h"
#include "esp_cam_ctlr_csi.h"
#include "esp_cam_ctlr.h"
#include "esp_sccb_intf.h"
#include "esp_sccb_i2c.h"
#include "esp_cam_sensor.h"
#include "ov5647.h"
#include "example_dsi_init.h"
#include "example_dsi_init_config.h"
#include "example_config.h"

static const char *TAG = "isp_dsi";

static bool s_camera_get_new_vb(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data);
static bool s_camera_get_finished_trans(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data);

/*---------------------------------------------------------------
                      AF
---------------------------------------------------------------*/
typedef union {
    struct {
        uint16_t s    : 4;
        uint16_t d    : 10;
        uint16_t flag : 1;
        uint16_t pd   : 1;
    };
    struct {
        uint16_t byte2 : 8;
        uint16_t byte1 : 8;
    };
    uint16_t val;
} dw9714_reg_t;

static bool IRAM_ATTR s_af_env_change_cb(isp_af_ctlr_t af_ctrlr, const esp_isp_af_env_detector_evt_data_t *edata, void *user_data)
{
    BaseType_t mustYield = pdFALSE;
    TaskHandle_t task_handle = (TaskHandle_t)user_data;
    vTaskNotifyGiveFromISR(task_handle, &mustYield);

    return (mustYield == pdTRUE);
}

static esp_err_t s_sensor_set_focus_val(int focus_val, void *arg)
{
    esp_sccb_io_handle_t dw9714_io_handle = arg;

    dw9714_reg_t reg = {0};
    reg.d = (uint16_t)((focus_val / 120.0) * 1023.0);

    uint8_t data[2] = {0};
    data[0] = reg.byte1;
    data[1] = reg.byte2;

    uint16_t reg_addr = (data[0] << 8) + (data[1]);
    uint8_t reg_val = 0;

    esp_err_t ret = esp_sccb_transmit_reg_a16v8(dw9714_io_handle, reg_addr, reg_val);
    if (ret != ESP_OK) {
        printf("dw9714 esp_sccb_transmit_reg_a16v8 failed\n");
        return ret;
    }

    return ESP_OK;
}

static void af_task(void *arg)
{
    TaskHandle_t task_handle = xTaskGetCurrentTaskHandle();

    typedef struct af_task_param_t {
        isp_proc_handle_t isp_proc;
        esp_sccb_io_handle_t dw9714_io_handle;
    } af_task_param_t;

    af_task_param_t af_task_param  = *(af_task_param_t *)arg;

    /**
     * AF window, windows for ISP hardware to record the
     * - luminance
     * - definition
     * of the current windows
     */
    esp_isp_af_config_t af_config = {
        .window = {
            [0] = {
                .top_left = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) - 100,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) - 100,
                },
                .btm_right = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) + 99,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) + 99,
                },
            },
            [1] = {
                .top_left = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) - 100,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) - 100,
                },
                .btm_right = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) + 99,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) + 99,
                },
            },
            [2] = {
                .top_left = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) - 100,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) - 100,
                },
                .btm_right = {
                    .x = (CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES / 2) + 99,
                    .y = (CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES / 2) + 99,
                },
            },
        },
        .edge_thresh = 128,
    };

    isp_af_ctlr_t af_ctrlr = NULL;
    ESP_ERROR_CHECK(esp_isp_new_af_controller(af_task_param.isp_proc, &af_config, &af_ctrlr));

    esp_isp_af_env_config_t env_config = {
        .interval = 10,
    };
    ESP_ERROR_CHECK(esp_isp_af_controller_set_env_detector(af_ctrlr, &env_config));

    esp_isp_af_env_detector_evt_cbs_t cbs = {
        .on_env_change = s_af_env_change_cb,
    };
    ESP_ERROR_CHECK(esp_isp_af_env_detector_register_event_callbacks(af_ctrlr, &cbs, task_handle));

    isp_af_sa_scheme_config_t af_scheme_config = {
        .first_step_val = 12,
        .first_approx_cycles = 10,
        .second_step_val = 2,
        .second_approx_cycles = 10,
    };
    isp_af_scheme_handle_t af_scheme = NULL;
    ESP_ERROR_CHECK(isp_af_create_sa_scheme(af_ctrlr, &af_scheme_config, &af_scheme));

    isp_af_sa_scheme_sensor_drv_t sensor_driver = {
        .af_sensor_set_focus = s_sensor_set_focus_val,
    };
    isp_af_sa_scheme_sensor_info_t sensor_info = {
        .focus_val_max = 120,
    };
    ESP_ERROR_CHECK(isp_af_sa_scheme_register_sensor_driver(af_scheme, &sensor_driver, &sensor_info, af_task_param.dw9714_io_handle));

    int definition_thresh = 0;
    int luminance_thresh = 0;
    ESP_ERROR_CHECK(esp_isp_af_controller_enable(af_ctrlr));

    while (1) {
        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
        ESP_ERROR_CHECK(isp_af_process(af_scheme, &definition_thresh, &luminance_thresh));
        ESP_ERROR_CHECK(esp_isp_af_controller_set_env_detector_threshold(af_ctrlr, definition_thresh, luminance_thresh));
    }
}

void app_main(void)
{
    esp_err_t ret = ESP_FAIL;
    esp_lcd_dsi_bus_handle_t mipi_dsi_bus = NULL;
    esp_lcd_panel_io_handle_t mipi_dbi_io = NULL;
    esp_lcd_panel_handle_t ili9881c_ctrl_panel = NULL;
    esp_lcd_panel_handle_t mipi_dpi_panel = NULL;
    void *frame_buffer = NULL;
    size_t frame_buffer_size = 0;

    //mipi ldo
    esp_ldo_channel_handle_t ldo_mipi_phy = NULL;
    esp_ldo_channel_config_t ldo_mipi_phy_config = {
        .chan_id = CONFIG_EXAMPLE_USED_LDO_CHAN_ID,
        .voltage_mv = CONFIG_EXAMPLE_USED_LDO_VOLTAGE_MV,
    };
    ESP_ERROR_CHECK(esp_ldo_acquire_channel(&ldo_mipi_phy_config, &ldo_mipi_phy));

    /**
     * @background
     * Sensor use RAW8
     * ISP convert to RGB565
     */
    //---------------DSI Init------------------//
    example_dsi_resource_alloc(&ili9881c_ctrl_panel, &mipi_dsi_bus, &mipi_dbi_io, &mipi_dpi_panel, &frame_buffer);

    //---------------Necessary variable config------------------//
    frame_buffer_size = CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES * CONFIG_EXAMPLE_MIPI_DSI_DISP_VRES * EXAMPLE_RGB565_BITS_PER_PIXEL / 8;

    ESP_LOGD(TAG, "CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES: %d, CONFIG_EXAMPLE_MIPI_DSI_DISP_VRES: %d, bits per pixel: %d", CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES, CONFIG_EXAMPLE_MIPI_DSI_DISP_VRES, 8);
    ESP_LOGD(TAG, "frame_buffer_size: %zu", frame_buffer_size);
    ESP_LOGD(TAG, "frame_buffer: %p", frame_buffer);

    esp_cam_ctlr_trans_t new_trans = {
        .buffer = frame_buffer,
        .buflen = frame_buffer_size,
    };

    //---------------I2C Init------------------//
    i2c_master_bus_config_t i2c_bus_conf = {
        .clk_source = I2C_CLK_SRC_DEFAULT,
        .sda_io_num = EXAMPLE_MIPI_SCCB_SDA_IO,
        .scl_io_num = EXAMPLE_MIPI_SCCB_SCL_IO,
        .i2c_port = I2C_NUM_0,
        .flags.enable_internal_pullup = true,
    };
    i2c_master_bus_handle_t bus_handle = NULL;
    ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_conf, &bus_handle));

    //---------------SCCB Init------------------//
    esp_sccb_io_handle_t ov5647_io_handle = NULL;
    sccb_i2c_config_t i2c_config = {
        .scl_speed_hz = EXAMPLE_MIPI_SCCB_FREQ,
        .device_address = EXAMPLE_OV5647_DEV_ADDR,
        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
    };
    ESP_ERROR_CHECK(sccb_new_i2c_io(bus_handle, &i2c_config, &ov5647_io_handle));

    esp_sccb_io_handle_t dw9714_io_handle = NULL;
    i2c_config.device_address = EXAMPLE_DW9714_DEV_ADDR;
    ESP_ERROR_CHECK(sccb_new_i2c_io(bus_handle, &i2c_config, &dw9714_io_handle));

    //---------------CSI Init------------------//
    esp_cam_ctlr_csi_config_t csi_config = {
        .ctlr_id = 0,
        .h_res = CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES,
        .v_res = CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES,
        .lane_bit_rate_mbps = EXAMPLE_MIPI_CSI_LANE_BITRATE_MBPS,
        .input_data_color_type = CAM_CTLR_COLOR_RAW8,
        .output_data_color_type = CAM_CTLR_COLOR_RGB565,
        .data_lane_num = 2,
        .byte_swap_en = false,
        .queue_items = 1,
    };
    esp_cam_ctlr_handle_t handle = NULL;
    ret = esp_cam_new_csi_ctlr(&csi_config, &handle);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "csi init fail[%d]", ret);
        return;
    }

    esp_cam_ctlr_evt_cbs_t cbs = {
        .on_get_new_trans = s_camera_get_new_vb,
        .on_trans_finished = s_camera_get_finished_trans,
    };
    if (esp_cam_ctlr_register_event_callbacks(handle, &cbs, &new_trans) != ESP_OK) {
        ESP_LOGE(TAG, "ops register fail");
        return;
    }

    ESP_ERROR_CHECK(esp_cam_ctlr_enable(handle));
    //---------------ISP Init------------------//
    isp_proc_handle_t isp_proc = NULL;
    esp_isp_processor_cfg_t isp_config = {
        .clk_hz = 80 * 1000 * 1000,
        .input_data_source = ISP_INPUT_DATA_SOURCE_CSI,
        .input_data_color_type = ISP_COLOR_RAW8,
        .output_data_color_type = ISP_COLOR_RGB565,
        .has_line_start_packet = false,
        .has_line_end_packet = false,
        .h_res = CONFIG_EXAMPLE_MIPI_CSI_DISP_HRES,
        .v_res = CONFIG_EXAMPLE_MIPI_CSI_DISP_VRES,
    };
    ESP_ERROR_CHECK(esp_isp_new_processor(&isp_config, &isp_proc));
    ESP_ERROR_CHECK(esp_isp_enable(isp_proc));

    esp_isp_bf_config_t bf_config = {
        .denoising_level = 5,
        .padding_mode = ISP_BF_EDGE_PADDING_MODE_SRND_DATA,
        .bf_template = {
            {1, 2, 1},
            {2, 4, 2},
            {1, 2, 1},
        },
        .padding_line_tail_valid_start_pixel = 0,
        .padding_line_tail_valid_end_pixel = 0,
    };
    ESP_ERROR_CHECK(esp_isp_bf_configure(isp_proc, &bf_config));
    ESP_ERROR_CHECK(esp_isp_bf_enable(isp_proc));

    esp_isp_sharpen_config_t sharpen_config = {
        .h_freq_coeff = {
            .integer = 2,
            .decimal = 0,
        },
        .m_freq_coeff = {
            .integer = 2,
            .decimal = 0,
        },
        .h_thresh = 255,
        .l_thresh = 0,
        .padding_mode = ISP_SHARPEN_EDGE_PADDING_MODE_SRND_DATA,
        .sharpen_template = {
            {1, 2, 1},
            {2, 4, 2},
            {1, 2, 1},
        },
        .padding_line_tail_valid_start_pixel = 0,
        .padding_line_tail_valid_end_pixel = 0,
    };
    ESP_ERROR_CHECK(esp_isp_sharpen_configure(isp_proc, &sharpen_config));
    ESP_ERROR_CHECK(esp_isp_sharpen_enable(isp_proc));

    typedef struct af_task_param_t {
        isp_proc_handle_t isp_proc;
        esp_sccb_io_handle_t dw9714_io_handle;
    } af_task_param_t;

    af_task_param_t af_task_param = {
        .isp_proc = isp_proc,
        .dw9714_io_handle = dw9714_io_handle,
    };
    xTaskCreatePinnedToCore(af_task, "af_task", 8192, &af_task_param, 5, NULL, 0);

    //---------------DSI Panel Init------------------//
    example_dsi_ili9881c_panel_init(ili9881c_ctrl_panel);

    //init to all white
    memset(frame_buffer, 0xFF, frame_buffer_size);
    esp_cache_msync((void *)frame_buffer, frame_buffer_size, ESP_CACHE_MSYNC_FLAG_DIR_C2M);

    if (esp_cam_ctlr_start(handle) != ESP_OK) {
        ESP_LOGE(TAG, "Driver start fail");
        return;
    }

    esp_cam_sensor_config_t cam_config = {
        .sccb_handle = ov5647_io_handle,
        .reset_pin = -1,
        .pwdn_pin = -1,
        .xclk_pin = -1,
        .sensor_port = ESP_CAM_SENSOR_MIPI_CSI,
    };

    esp_cam_sensor_device_t *cam = ov5647_detect(&cam_config);
    if (!cam) {
        ESP_LOGE(TAG, "failed to detect 5647");
        return;
    }

    esp_cam_sensor_format_array_t cam_fmt_array = {0};
    esp_cam_sensor_query_format(cam, &cam_fmt_array);
    const esp_cam_sensor_format_t *parray = cam_fmt_array.format_array;
    for (int i = 0; i < cam_fmt_array.count; i++) {
        ESP_LOGI(TAG, "fmt[%d].name:%s", i, parray[i].name);
    }

    esp_cam_sensor_format_t *cam_cur_fmt = NULL;
    for (int i = 0; i < cam_fmt_array.count; i++) {
#if CONFIG_EXAMPLE_MIPI_CSI_VRES_640
        if (!strcmp(parray[i].name, "MIPI_2lane_24Minput_RAW8_800x640_50fps")) {
            cam_cur_fmt = (esp_cam_sensor_format_t *) & (parray[i].name);
            break;
        }
#else
        if (!strcmp(parray[i].name, "MIPI_2lane_24Minput_RAW8_800x1280_50fps")) {
            cam_cur_fmt = (esp_cam_sensor_format_t *) & (parray[i].name);
            break;
        }
#endif
    }

    ret = esp_cam_sensor_set_format(cam, (const esp_cam_sensor_format_t *) cam_cur_fmt);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Format set fail");
    } else {
        ESP_LOGI(TAG, "Format in use:%s", cam_cur_fmt->name);
    }
    int enable_flag = 1;
    // Set sensor output stream
    ret = esp_cam_sensor_ioctl(cam, ESP_CAM_SENSOR_IOC_S_STREAM, &enable_flag);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Start stream fail");
    }

    example_dpi_panel_init(mipi_dpi_panel);

    while (1) {
        ESP_ERROR_CHECK(esp_cam_ctlr_receive(handle, &new_trans, ESP_CAM_CTLR_MAX_DELAY));
    }
}

static bool s_camera_get_new_vb(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data)
{
    esp_cam_ctlr_trans_t new_trans = *(esp_cam_ctlr_trans_t *)user_data;
    trans->buffer = new_trans.buffer;
    trans->buflen = new_trans.buflen;

    return false;
}

bool s_camera_get_finished_trans(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data)
{
    return false;
}