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

#include "FastAccelStepper.h"
#include "StepperISR.h"

char TCCR1A;
char TCCR1B;
char TCCR1C;
char TIMSK1;
char TIFR1;
unsigned short OCR1A;
unsigned short OCR1B;

StepperQueue fas_queue[NUM_QUEUES];

void inject_fill_interrupt(int mark) {}
void noInterrupts() {}
void interrupts() {}

#include "RampChecker.h"

class FastAccelStepperTest {
 public:
  void init_queue() {
    fas_queue[0].read_idx = 0;
    fas_queue[1].read_idx = 0;
    fas_queue[0].next_write_idx = 0;
    fas_queue[1].next_write_idx = 0;
  }

  void ramp(uint32_t steps) {
    init_queue();
    FastAccelStepper s = FastAccelStepper();
    s.init(NULL, 0, 0);
    RampChecker rc = RampChecker();
    assert(0 == s.getCurrentPosition());

    uint32_t speed_us = 40;
    assert(s.isQueueEmpty());
    s.setSpeedInUs(speed_us);
    s.setAcceleration(1000000);
    s.fill_queue();
    assert(s.isQueueEmpty());
    float old_planned_time_in_buffer = 0;

    char fname[100];
    snprintf(fname, 100, "test_09.gnuplot");
    rc.start_plot(fname);
    for (int j = 0; j < 2; j++) {
      s.move(steps);
      for (int i = 0; i < 100 * steps; i++) {
        if (true) {
          printf(
              "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
              "pos = %d  QueueEmpty=%s\n",
              i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
              s.targetPos(), s.getPositionAfterCommandsCompleted(),
              s.isQueueEmpty() ? "yes" : "no");
        }
        if (!s.isRampGeneratorActive()) {
          break;
        }
        s.fill_queue();
        uint32_t from_dt = rc.total_ticks;
        while (!s.isQueueEmpty()) {
          rc.increase_ok = true;
          rc.decrease_ok = true;
          rc.check_section(
              &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
          fas_queue[0].read_idx++;
        }
        uint32_t to_dt = rc.total_ticks;
        float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
        printf("planned time in buffer: %.6fs\n", planned_time);
        // This must be ensured, so that the stepper does not run out of
        // commands
        assert((i == 0) || (old_planned_time_in_buffer > 0.005));
        old_planned_time_in_buffer = planned_time;
      }
    }
    rc.finish_plot();
    test(!s.isRampGeneratorActive(), "too many commands created");
    test(s.getCurrentPosition() == 2 * steps,
         "has not reached target position");
    printf("Total time  %f\n", rc.total_ticks / 16000000.0);

#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
#endif
  }
};
int main() {
  FastAccelStepperTest test;
  test.ramp(53);
  printf("TEST_09 PASSED\n");
  return 0;
}