/*
 * Copyright (C) 2022 HiHope Open Source Organization .
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 *
 * limitations under the License.
 */

#include <stdio.h>
#include <stdlib.h>
#include <memory.h>

#include "ohos_init.h"
#include "cmsis_os2.h"
#include "iot_gpio.h"
#include "hi_io.h"
#include "hi_time.h"

#define TASK_STAK_SIZE    (1024*10)
#define GPIO_8 8
#define GPIO_7 7
#define GPIO_FUNC 0
float GetDistance  (void)
{
    static unsigned long start_time = 0, time = 0;
    float distance = 0.0;
    IotGpioValue value = IOT_GPIO_VALUE0;
    unsigned int flag = 0;
    float pi = 0.034;
    int l = 2;
    unsigned int delayTime = 20;
    IoTWatchDogDisable();

    hi_io_set_func(GPIO_8, GPIO_FUNC);
    IoTGpioSetDir(GPIO_8, IOT_GPIO_DIR_IN);

    IoTGpioSetDir(GPIO_7, IOT_GPIO_DIR_OUT);
    IoTGpioSetOutputVal(GPIO_7, IOT_GPIO_VALUE1);
    hi_udelay(delayTime);
    IoTGpioSetOutputVal(GPIO_7, IOT_GPIO_VALUE0);

    while (1) {
        IoTGpioGetInputVal(GPIO_8, &value);
        if (value == IOT_GPIO_VALUE1 && flag == 0) {
            start_time = hi_get_us();
            flag = 1;
        }
        if (value == IOT_GPIO_VALUE0 && flag == 1) {
            time = hi_get_us() - start_time;
            start_time = 0;
            break;
        }
    }
    distance = time * pi / l;
    return distance;
}

void RobotTask(void* parame)
{
    (void)parame;
    printf("start test hcsr04\r\n");
    unsigned int time = 200;
    while (1) {
        float distance = GetDistance();
        printf("distance is %f\r\n", distance);
        osDelay(time);
    }
}


static void RobotDemo(void)
{
    osThreadAttr_t attr;

    attr.name = "RobotTask";
    attr.attr_bits = 0U;
    attr.cb_mem = NULL;
    attr.cb_size = 0U;
    attr.stack_mem = NULL;
    attr.stack_size = TASK_STAK_SIZE;
    attr.priority = osPriorityNormal;

    if (osThreadNew(RobotTask, NULL, &attr) == NULL) {
        printf("[RobotDemo] Failed to create RobotTask!\n");
    }
}

APP_FEATURE_INIT(RobotDemo);