#include "boo/inputdev/DualshockPad.hpp"
#include "boo/inputdev/DeviceSignature.hpp"

#define _USE_MATH_DEFINES
#include <cmath>
#include <cstdio>
#include <cstring>
#include <iostream>

#ifdef _MSC_VER
inline uint16_t bswap16(uint16_t val) { return _byteswap_ushort(val); }
#elif __GNUC__ && !defined(__FreeBSD__)
constexpr uint16_t bswap16(uint16_t val) { return __builtin_bswap16(val); }
#elif !defined(__FreeBSD__)
constexpr uint16_t bswap16(uint16_t val) { return __builtin_byteswap(val); }
#endif

#ifndef M_PIF
#define M_PIF 3.14159265358979323846f /* pi */
#endif

#define RAD_TO_DEG (180.f / M_PIF)

namespace boo {
static const uint8_t defaultReport[49] = {0x01, 0x01, 0xff, 0x00, 0xff, 0x00, 0xff, 0x80, 0x00, 0x00, 0x00, 0xff,
                                          0x27, 0x10, 0x00, 0x32, 0xff, 0x27, 0x10, 0x00, 0x32, 0xff, 0x27, 0x10,
                                          0x00, 0x32, 0xff, 0x27, 0x10, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00};

DualshockPad::DualshockPad(DeviceToken* token)
: TDeviceBase<IDualshockPadCallback>(dev_typeid(DualshockPad), token)
, m_rumbleRequest(EDualshockMotor::None)
, m_rumbleState(EDualshockMotor::None) {
  memcpy(m_report.buf, defaultReport, 49);
}

DualshockPad::~DualshockPad() {}

void DualshockPad::deviceDisconnected() {
  std::lock_guard<std::mutex> lk(m_callbackLock);
  if (m_callback)
    m_callback->controllerDisconnected();
}

void DualshockPad::initialCycle() {
#if 0
    uint8_t setupCommand[5] = {0xF4, 0x42, 0x0c, 0x00, 0x00}; //Tells controller to start sending changes on in pipe
    if (!sendHIDReport(setupCommand, 5, HIDReportType::Feature, 0xF4))
    {
        deviceError("Unable to send complete packet! Request size %x\n", sizeof(setupCommand));
        return;
    }
    uint8_t btAddr[8];
    receiveHIDReport(btAddr, sizeof(btAddr), HIDReportType::Feature, 0xF5);
    for (int i = 0; i < 6; i++)
        m_btAddress[5 - i] = btAddr[i + 2]; // Copy into buffer reversed, so it is LSB first
#endif
}

void DualshockPad::transferCycle() {}

void DualshockPad::finalCycle() {
  m_report.rumble.leftDuration = 0;
  m_report.rumble.leftForce = 0;
  m_report.rumble.rightDuration = 0;
  m_report.rumble.rightOn = false;
  sendHIDReport(m_report.buf, sizeof(m_report), HIDReportType::Output, 0x01);
}

void DualshockPad::receivedHIDReport(const uint8_t* data, size_t length, HIDReportType tp, uint32_t message) {
  if (message != 1 || length != 49 || tp != HIDReportType::Input)
    return;
  DualshockPadState state = *reinterpret_cast<const DualshockPadState*>(data);

  for (int i = 0; i < 3; i++)
    state.m_accelerometer[i] = bswap16(state.m_accelerometer[i]);

  state.m_gyrometerZ = bswap16(state.m_gyrometerZ);
  const double zeroG = 511.5; // 1.65/3.3*1023 (1,65V);
  float accXval = -((double)state.m_accelerometer[0] - zeroG);
  float accYval = -((double)state.m_accelerometer[1] - zeroG);
  float accZval = -((double)state.m_accelerometer[2] - zeroG);
  state.accPitch = (atan2(accYval, accZval) + M_PIF) * RAD_TO_DEG;
  state.accYaw = (atan2(accXval, accZval) + M_PIF) * RAD_TO_DEG;
  state.gyroZ = (state.m_gyrometerZ / 1023.f);

  {
    std::lock_guard<std::mutex> lk(m_callbackLock);
    if (m_callback)
      m_callback->controllerUpdate(*this, state);
  }

  if (m_rumbleRequest != m_rumbleState) {
    if (True(m_rumbleRequest & EDualshockMotor::Left)) {
      m_report.rumble.leftDuration = m_rumbleDuration[0];
      m_report.rumble.leftForce = m_rumbleIntensity[0];
    } else {
      m_report.rumble.leftDuration = 0;
      m_report.rumble.leftForce = 0;
    }

    if (True(m_rumbleRequest & EDualshockMotor::Right)) {
      m_report.rumble.rightDuration = m_rumbleDuration[1];
      m_report.rumble.rightOn = m_rumbleIntensity[1] > 0;
    } else {
      m_report.rumble.rightDuration = 0;
      m_report.rumble.rightOn = false;
    }
    sendHIDReport(m_report.buf, sizeof(m_report), HIDReportType::Output, 0x01);
    m_rumbleState = m_rumbleRequest;
  } else {
    if (state.m_reserved5[8] & 0x80)
      m_rumbleRequest &= ~EDualshockMotor::Right;
    if (state.m_reserved5[7] & 0x01)
      m_rumbleRequest &= ~EDualshockMotor::Left;
    m_rumbleState = m_rumbleRequest;
  }
}

} // namespace boo