//! BME690 Environmental Sensor Driver
//!
//! This is an AI-generated port of the official Bosch BME690 C driver to Rust.
//! Original C driver: https://github.com/boschsensortec/BME690_SensorAPI
//!
//! The BME690 is a digital environmental sensor that measures:
//! - Temperature (°C)
//! - Pressure (Pa)
//! - Humidity (%)
//!
//! This driver provides both blocking and async implementations using embedded-hal traits.

#![no_std]

/// I2C device address options
#[derive(Debug, Clone, Copy)]
pub enum DeviceAddr {
    /// Primary address 0x76 (SDO connected to GND)
    Primary,
    /// Secondary address 0x77 (SDO connected to VDD)
    Secondary,
}

impl From<DeviceAddr> for u8 {
    fn from(addr: DeviceAddr) -> Self {
        match addr {
            DeviceAddr::Primary => 0x76,
            DeviceAddr::Secondary => 0x77,
        }
    }
}

impl From<DeviceAddr> for u16 {
    fn from(addr: DeviceAddr) -> Self {
        match addr {
            DeviceAddr::Primary => 0x76,
            DeviceAddr::Secondary => 0x77,
        }
    }
}

/// Temperature calibration coefficients
struct TempCalib {
    par_t1: u16,
    par_t2: u16,
    par_t3: i8,
}

/// Pressure calibration coefficients
struct PressCalib {
    par_p1: i16,
    par_p2: u16,
    par_p3: i8,
    par_p4: i8,
    par_p5: i16,
    par_p6: i16,
    par_p7: i8,
    par_p8: i8,
    par_p9: i16,
    par_p10: i8,
    par_p11: i8,
}

/// Humidity calibration coefficients
struct HumCalib {
    par_h1: i16,
    par_h2: i8,
    par_h3: u8,
    par_h4: i8,
    par_h5: i16,
    par_h6: u8,
}

/// Sensor measurement data
#[derive(Debug, Clone, Copy)]
pub struct Measurement {
    /// Temperature in degrees Celsius
    pub temperature: f32,
    /// Pressure in Pascals
    pub pressure: f32,
    /// Relative humidity in percent (0-100%)
    pub humidity: f32,
}

type FieldData = [u8; 17];  // BME69X_LEN_FIELD from C driver
type CoeffData1 = [u8; 23]; // Coefficients from register 0x8a
type CoeffData2 = [u8; 14]; // Coefficients from register 0xe1
type CoeffData3 = [u8; 5];  // Coefficients from register 0x00
type CoeffDataAll = [u8; 42]; // Combined coefficient data

/// Combined calibration data for all sensors
struct Bme690Calib {
    temp: TempCalib,
    press: PressCalib,
    hum: HumCalib,
}

/// Blocking BME690 driver
pub struct Bme690<I2C, D> {
    i2c: I2C,
    delay: D,
    device_addr: u8,
    calib: Bme690Calib,
}

/// Async BME690 driver
pub struct AsyncBme690<I2C, D> {
    i2c: I2C,
    delay: D,
    device_addr: u8,
    calib: Bme690Calib,
}

/// Extract calibration coefficients from raw register data
fn extract_calibration(coeff: &CoeffDataAll) -> Bme690Calib {
    // Extract temperature calibration (indices from bme69x_defs.h)
    let par_t1 = u16::from_be_bytes([coeff[32], coeff[31]]); // IDX_DO_C_MSB=32, LSB=31
    let par_t2 = u16::from_be_bytes([coeff[1], coeff[0]]);   // IDX_DTK1_C_MSB=1, LSB=0
    let par_t3 = coeff[2] as i8;                             // IDX_DTK2_C=2

    // Extract pressure calibration
    let par_p1 = i16::from_be_bytes([coeff[11], coeff[10]]); // IDX_O_C_MSB=11, LSB=10
    let par_p2 = u16::from_be_bytes([coeff[13], coeff[12]]); // IDX_TK10_C_MSB=13, LSB=12
    let par_p3 = coeff[14] as i8;                            // IDX_TK20_C=14
    let par_p4 = coeff[15] as i8;                            // IDX_TK30_C=15
    let par_p5 = i16::from_be_bytes([coeff[5], coeff[4]]);   // IDX_S_C_MSB=5, LSB=4
    let par_p6 = i16::from_be_bytes([coeff[7], coeff[6]]);   // IDX_TK1S_C_MSB=7, LSB=6
    let par_p7 = coeff[8] as i8;                             // IDX_TK2S_C=8
    let par_p8 = coeff[9] as i8;                             // IDX_TK3S_C=9
    let par_p9 = i16::from_be_bytes([coeff[19], coeff[18]]); // IDX_NLS_C_MSB=19, LSB=18
    let par_p10 = coeff[20] as i8;                           // IDX_TKNLS_C=20
    let par_p11 = coeff[21] as i8;                           // IDX_NLS3_C=21

    // Extract humidity calibration (with sign conversion from C driver)
    let mut par_h5 = ((coeff[23] as i16) << 4) | ((coeff[24] as i16) >> 4); // IDX_S_H_MSB=23, LSB=24
    if par_h5 > 2047 {
        par_h5 -= 4096;
    }

    let mut par_h1 = ((coeff[25] as i16) << 4) | ((coeff[24] as i16) & 0x0F); // IDX_O_H_MSB=25, LSB=24
    if par_h1 > 2047 {
        par_h1 -= 4096;
    }

    let par_h2 = coeff[26] as i8;  // IDX_TK10H_C=26
    let par_h3 = coeff[28];        // IDX_par_h3=28
    let par_h4 = coeff[27] as i8;  // IDX_par_h4=27
    let par_h6 = coeff[29];        // IDX_HLIN2_C=29

    Bme690Calib {
        temp: TempCalib { par_t1, par_t2, par_t3 },
        press: PressCalib {
            par_p1, par_p2, par_p3, par_p4, par_p5,
            par_p6, par_p7, par_p8, par_p9, par_p10, par_p11,
        },
        hum: HumCalib { par_h1, par_h2, par_h3, par_h4, par_h5, par_h6 },
    }
}

/// Parse raw field data into calibrated measurements
fn parse_field_data(field_data: &FieldData, calib: &Bme690Calib) -> Measurement {
    // Extract pressure (bytes 2-4, registers 0x1F-0x21) - matches C driver format
    let pres_adc = ((field_data[2] as u32) << 16)
        | ((field_data[3] as u32) << 8)
        | (field_data[4] as u32);

    // Extract temperature (bytes 5-7, registers 0x22-0x24) - matches C driver format
    let temp_adc = ((field_data[5] as u32) << 16)
        | ((field_data[6] as u32) << 8)
        | (field_data[7] as u32);

    // Extract humidity (bytes 8-9, registers 0x25-0x26) - matches C driver format
    let hum_adc = ((field_data[8] as u16) << 8) | (field_data[9] as u16);

    // Calculate compensated values
    let temperature = calc_temperature(temp_adc, &calib.temp);
    let pressure = calc_pressure(pres_adc, temperature, &calib.press);
    let humidity = calc_humidity(hum_adc, temperature, &calib.hum);

    Measurement {
        temperature,
        pressure,
        humidity,
    }
}

/// Calculate calibrated temperature from raw ADC value
/// Based on Bosch BME690 SDK floating-point implementation
fn calc_temperature(temp_adc: u32, calib: &TempCalib) -> f32 {
    let do1 = (calib.par_t1 as i32) << 8;
    let dtk1 = (calib.par_t2 as f64) / (1u64 << 30) as f64;
    let dtk2 = (calib.par_t3 as f64) / (1u64 << 48) as f64;

    let cf = temp_adc as i32 - do1;
    let temp1 = cf as f64 * dtk1;
    let temp2 = (cf as f64) * (cf as f64) * dtk2;

    (temp1 + temp2) as f32
}

/// Calculate calibrated pressure from raw ADC value and temperature
/// Based on Bosch BME690 SDK floating-point implementation
fn calc_pressure(pres_adc: u32, temp: f32, calib: &PressCalib) -> f32 {
    let o = (calib.par_p1 as u32) * (1u32 << 3);
    let tk10 = (calib.par_p2 as f64) / (1u64 << 6) as f64;
    let tk20 = (calib.par_p3 as f64) / (1u64 << 8) as f64;
    let tk30 = (calib.par_p4 as f64) / (1u64 << 15) as f64;

    let s = ((calib.par_p5 as f64) - (1u64 << 14) as f64) / (1u64 << 20) as f64;
    let tk1s = ((calib.par_p6 as f64) - (1u64 << 14) as f64) / (1u64 << 29) as f64;
    let tk2s = (calib.par_p7 as f64) / (1u64 << 32) as f64;
    let tk3s = (calib.par_p8 as f64) / (1u64 << 37) as f64;

    let nls = (calib.par_p9 as f64) / (1u64 << 48) as f64;
    let tknls = (calib.par_p10 as f64) / (1u64 << 48) as f64;
    // nls3 = par_p11 / 2^65, split into (2^35 * 2^30) to avoid overflow
    let nls3 = (calib.par_p11 as f64) / ((1u64 << 35) as f64 * (1u64 << 30) as f64);

    let temp = temp as f64;
    let pres_adc = pres_adc as f64;

    let tmp1 = o as f64 + (tk10 * temp) + (tk20 * temp * temp) + (tk30 * temp * temp * temp);
    let tmp2 = pres_adc * (s + (tk1s * temp) + (tk2s * temp * temp) + (tk3s * temp * temp * temp));
    let tmp3 = pres_adc * pres_adc * (nls + (tknls * temp));
    let tmp4 = pres_adc * pres_adc * pres_adc * nls3;

    (tmp1 + tmp2 + tmp3 + tmp4) as f32
}

/// Calculate calibrated humidity from raw ADC value and temperature
/// Based on Bosch BME690 SDK floating-point implementation
fn calc_humidity(hum_adc: u16, temp: f32, calib: &HumCalib) -> f32 {
    let temp_comp = (temp as f64 * 5120.0) - 76800.0;

    let oh = (calib.par_h1 as f64) * (1u64 << 6) as f64;
    let sh = (calib.par_h5 as f64) / (1u64 << 16) as f64;
    let tk10h = (calib.par_h2 as f64) / (1u64 << 14) as f64;
    let tk1sh = (calib.par_h4 as f64) / (1u64 << 26) as f64;
    let tk2sh = (calib.par_h3 as f64) / (1u64 << 26) as f64;
    let hlin2 = (calib.par_h6 as f64) / (1u64 << 19) as f64;

    let hoff = (hum_adc as f64) - (oh + tk10h * temp_comp);
    let hsens = hoff * sh * (1.0 + (tk1sh * temp_comp) + (tk1sh * tk2sh * temp_comp * temp_comp));
    let hum_float_val = hsens * (1.0 - hlin2 * hsens);

    // Clamp to 0-100 range
    hum_float_val.max(0.0).min(100.0) as f32
}

// Blocking implementation
impl<I2C, D> Bme690<I2C, D>
where
    I2C: embedded_hal::i2c::I2c,
    D: embedded_hal::delay::DelayNs,
{
    /// Create a new BME690 sensor instance
    ///
    /// # Arguments
    /// * `i2c` - I2C peripheral
    /// * `delay` - Delay provider
    /// * `device_addr` - I2C address (Primary = 0x76, Secondary = 0x77)
    pub fn new(mut i2c: I2C, delay: D, device_addr: impl Into<u8>) -> Result<Self, I2C::Error> {
        let device_addr = device_addr.into();

        // Read calibration data - BME690 uses registers 0x8a, 0xe1, 0x00
        let mut coeff1 = CoeffData1::default();
        let mut coeff2 = CoeffData2::default();
        let mut coeff3 = CoeffData3::default();

        i2c.write_read(device_addr, &[0x8a], &mut coeff1)?;
        i2c.write_read(device_addr, &[0xe1], &mut coeff2)?;
        i2c.write_read(device_addr, &[0x00], &mut coeff3)?;

        // Combine into single array like the C driver does
        let mut coeff: CoeffDataAll = [0; 42];
        coeff[0..23].copy_from_slice(&coeff1);
        coeff[23..37].copy_from_slice(&coeff2);
        coeff[37..42].copy_from_slice(&coeff3);

        let calib = extract_calibration(&coeff);

        // Configure sensor
        i2c.write(device_addr, &[0x72, 0x01])?; // CTRL_HUM - 1x oversampling
        i2c.write(device_addr, &[0x74, 0x24])?; // CTRL_MEAS - sleep mode initially

        Ok(Self {
            i2c,
            delay,
            device_addr,
            calib,
        })
    }

    fn trigger_measurement(&mut self) -> Result<(), I2C::Error> {
        // Trigger forced mode measurement
        self.i2c.write(self.device_addr, &[0x74, 0x25])
    }

    fn wait_for_measurement(&mut self) -> Result<(), I2C::Error> {
        loop {
            let mut status = [0u8; 1];
            self.i2c.write_read(self.device_addr, &[0x1D], &mut status)?;
            if status[0] & (1 << 7) != 0 {
                break; // New data available
            }
            // Wait 10ms before polling again (BME690 typical measurement time)
            self.delay.delay_ms(10);
        }
        Ok(())
    }

    /// Perform a measurement and return temperature, pressure, and humidity
    pub fn measure(&mut self) -> Measurement {
        // Trigger measurement
        self.trigger_measurement().unwrap();
        self.wait_for_measurement().unwrap();

        // Read all field data at once
        let mut field_data = FieldData::default();
        self.i2c
            .write_read(self.device_addr, &[0x1D], &mut field_data)
            .unwrap();

        parse_field_data(&field_data, &self.calib)
    }

    /// Measure temperature only
    pub fn measure_temperature(&mut self) -> f32 {
        self.measure().temperature
    }

    /// Measure pressure only
    pub fn measure_pressure(&mut self) -> f32 {
        self.measure().pressure
    }

    /// Measure humidity only
    pub fn measure_humidity(&mut self) -> f32 {
        self.measure().humidity
    }
}

// Async implementation
impl<I2C, D> AsyncBme690<I2C, D>
where
    I2C: embedded_hal_async::i2c::I2c,
    D: embedded_hal_async::delay::DelayNs,
{
    /// Create a new async BME690 sensor instance
    ///
    /// # Arguments
    /// * `i2c` - Async I2C peripheral
    /// * `delay` - Async delay provider
    /// * `device_addr` - I2C address (Primary = 0x76, Secondary = 0x77)
    pub async fn new(mut i2c: I2C, delay: D, device_addr: impl Into<u8>) -> Result<Self, I2C::Error> {
        let device_addr = device_addr.into();

        // Read calibration data - BME690 uses registers 0x8a, 0xe1, 0x00
        let mut coeff1 = CoeffData1::default();
        let mut coeff2 = CoeffData2::default();
        let mut coeff3 = CoeffData3::default();

        i2c.write_read(device_addr, &[0x8a], &mut coeff1).await?;
        i2c.write_read(device_addr, &[0xe1], &mut coeff2).await?;
        i2c.write_read(device_addr, &[0x00], &mut coeff3).await?;

        // Combine into single array like the C driver does
        let mut coeff: CoeffDataAll = [0; 42];
        coeff[0..23].copy_from_slice(&coeff1);
        coeff[23..37].copy_from_slice(&coeff2);
        coeff[37..42].copy_from_slice(&coeff3);

        let calib = extract_calibration(&coeff);

        // Configure sensor
        i2c.write(device_addr, &[0x72, 0x01]).await?; // CTRL_HUM - 1x oversampling
        i2c.write(device_addr, &[0x74, 0x24]).await?; // CTRL_MEAS - sleep mode initially

        Ok(Self {
            i2c,
            delay,
            device_addr,
            calib,
        })
    }

    async fn trigger_measurement(&mut self) -> Result<(), I2C::Error> {
        // Trigger forced mode measurement
        self.i2c.write(self.device_addr, &[0x74, 0x25]).await
    }

    async fn wait_for_measurement(&mut self) -> Result<(), I2C::Error> {
        loop {
            let mut status = [0u8; 1];
            self.i2c.write_read(self.device_addr, &[0x1D], &mut status).await?;
            if status[0] & (1 << 7) != 0 {
                break; // New data available
            }
            // Wait 10ms before polling again (BME690 typical measurement time)
            self.delay.delay_ms(10).await;
        }
        Ok(())
    }

    /// Perform an async measurement and return temperature, pressure, and humidity
    pub async fn measure(&mut self) -> Measurement {
        // Trigger measurement
        self.trigger_measurement().await.unwrap();
        self.wait_for_measurement().await.unwrap();

        // Read all field data at once
        let mut field_data = FieldData::default();
        self.i2c
            .write_read(self.device_addr, &[0x1D], &mut field_data)
            .await
            .unwrap();

        parse_field_data(&field_data, &self.calib)
    }

    /// Measure temperature only (async)
    pub async fn measure_temperature(&mut self) -> f32 {
        self.measure().await.temperature
    }

    /// Measure pressure only (async)
    pub async fn measure_pressure(&mut self) -> f32 {
        self.measure().await.pressure
    }

    /// Measure humidity only (async)
    pub async fn measure_humidity(&mut self) -> f32 {
        self.measure().await.humidity
    }
}