m0601 0.1.0

//! Compile check for the code examples under `docs/content/docs/library/` — not
//! meant to be run.
#![allow(dead_code, clippy::unwrap_used)]

use std::time::{Duration, Instant};

use m0601::protocol::{drive_floor, frame_velocity};
use m0601::{Bus, M0601, MockTransport, Mode, PositionAccumulator, PositionMirror, bus_period};

fn query_example() -> m0601::Result<()> {
    let mut motor = M0601::open("/dev/ttyUSB0", 0x01, Duration::from_millis(150))?;
    match motor.query()? {
        Some(fb) => println!(
            "{:+} RPM, {:.1}°, {:?} °C, faults: {}",
            fb.speed_rpm, fb.position_deg, fb.temp_c, fb.faults
        ),
        None => println!("no reply — check power, wiring, --id"),
    }
    Ok(())
}

fn drive_example() -> m0601::Result<()> {
    let mut motor = M0601::open("/dev/ttyUSB0", 0x01, Duration::from_millis(150))?;
    let deadline = Instant::now() + Duration::from_secs(3);
    while Instant::now() < deadline {
        motor.drive_velocity(100)?;
        std::thread::sleep(Duration::from_millis(20));
    }
    motor.safe_stop();
    Ok(())
}

fn transact_example(motor: &mut M0601) -> m0601::Result<()> {
    let frame = frame_velocity(motor.id(), 100, 1);
    if let Some(fb) = motor.transact(&frame, Duration::from_millis(6))? {
        assert!(fb.temp_c.is_none());
        println!("{:+} RPM at {:.2}°", fb.speed_rpm, fb.position_deg);
    }
    Ok(())
}

fn modes_example(motor: &mut M0601) -> m0601::Result<()> {
    motor.set_mode(Mode::Current)?;
    motor.drive_current(4096)?;
    motor.set_mode(Mode::Position)?;
    motor.drive_position(16384)?;
    Ok(())
}

fn bus_example() -> m0601::Result<()> {
    let bus = Bus::open("/dev/ttyUSB0", Duration::from_millis(150))?;
    let mut left = bus.motor(0x01)?.mirrored(true);
    let mut right = bus.motor(0x02)?;
    left.drive_velocity(100)?;
    right.drive_velocity(100)?;
    Ok(())
}

fn multi_motor_example() -> m0601::Result<()> {
    let ids = [0x01, 0x02, 0x03, 0x04];
    let bus = Bus::open("/dev/ttyUSB0", Duration::from_millis(150))?
        .with_min_gap(Duration::from_micros(2500));
    assert!(bus.min_gap() > Duration::ZERO);
    bus.set_mode_all(&ids, Mode::Velocity)?;
    let mut wheels = Vec::new();
    for id in ids {
        wheels.push(bus.motor(id)?);
    }
    for wheel in &mut wheels {
        wheel.drive_velocity(60)?; // the bus spaces these on the wire
    }
    let guard = bus.clone(); // e.g. for a stop guard / signal handler
    guard.safe_stop_all(&ids);
    Ok(())
}

fn timing_example() -> m0601::Result<()> {
    // Tunable bus timing (idle gap, stop ramp, mode/set-ID/broadcast waits)
    // and drive-accel defaults — set from your own config, defaults unchanged.
    let bus = Bus::open("/dev/ttyUSB0", Duration::from_millis(150))?
        .with_timing(m0601::BusTiming {
            stop_accel: 5,
            ..m0601::BusTiming::default()
        })
        .with_default_accel(10); // every motor's drive_velocity default
    let mut motor = bus.motor(0x01)?.with_default_accel(20); // just this one
    motor.drive_velocity(200)?; // uses accel 20
    Ok(())
}

fn strict_crc_example() -> m0601::Result<()> {
    // quickstart.md: the flag is copied into each M0601 at `motor()` time.
    let timeout = Duration::from_millis(150);
    let bus = Bus::open("/dev/ttyUSB0", timeout)?.with_strict_crc(true);
    let motor = bus.motor(0x01)?;
    assert!(motor.strict_crc());

    let mut other = bus.motor(0x02)?.with_strict_crc(false); // override one handle
    other.set_strict_crc(true); // or flip it later
    Ok(())
}

fn position_mirror_example() -> m0601::Result<()> {
    // multi-motor.md: a mirror-image wheel's angle should count up with its speed.
    let bus = Bus::open("/dev/ttyUSB0", Duration::from_millis(150))?;
    let _right = bus
        .motor(0x02)?
        .mirrored(true)
        .position_mirror(PositionMirror::Reflect); // default is PassThrough
    Ok(())
}

fn odometry_example(motor: &mut M0601, reply_wait: Duration) -> m0601::Result<()> {
    // odometry.md: unwrap the single-turn angle into a continuous one.
    let mut odo = PositionAccumulator::new();
    if let Some(fb) = motor.query_with(reply_wait)? {
        let travelled_deg = odo.update(fb.position_deg);
        println!("{travelled_deg:.1}° ({:.2} rev)", odo.revolutions());
    }
    // A 20 ms poll resolves up to 1500 RPM — far above the motor's 330 RPM ceiling.
    let ceiling = PositionAccumulator::max_unaliased_rpm(Duration::from_millis(20));
    assert!(ceiling > 330.0);
    Ok(())
}

fn budgeting_example(bus: &Bus, reply_wait: Duration) {
    // budgeting.md: a startup assertion — fail at launch, not mid-drive.
    let cycle = Duration::from_millis(18);
    let need = bus_period(4, 1, bus.min_gap(), reply_wait);
    assert!(
        need < cycle && cycle <= drive_floor(),
        "cycle {cycle:?} cannot carry {need:?} of bus traffic under the {:?} floor",
        drive_floor()
    );
}

fn slew_example() -> m0601::Result<()> {
    // setpoint-shaping.md: bounds how fast *we* move the setpoint, which the
    // motor's `accel` byte does not. No clock — the caller passes elapsed.
    let cycle = Duration::from_millis(20);
    let mut ramp = m0601::SlewLimiter::new(300.0)?; // 300 RPM/s => 6 RPM/cycle
    let target = 250.0;

    let rpm = ramp.step(target, cycle).round() as i16;
    assert_eq!(rpm, 6);

    // Stop paths bypass the ramp; a held brake pins it so release starts at 0.
    ramp.reset_to(0.0);
    assert_eq!(ramp.current_setpoint(), 0.0);
    Ok(())
}

fn low_latency_example() -> m0601::Result<()> {
    let transport = m0601::SerialTransport::open("/dev/ttyUSB0", Duration::from_millis(150))?;
    if !transport.low_latency() {
        eprintln!("[!] low-latency not set; see docs/content/docs/concepts/latency.md");
    }
    Ok(())
}

fn mock_example() -> m0601::Result<()> {
    let mock = MockTransport::with_replies([vec![
        0x01, 0x02, 0x00, 0x00, 0x00, 0x64, 0x28, 0x00, 0x00, 0x00,
    ]]);
    let mut motor = M0601::with_transport(mock, 0x01, Duration::from_millis(150))?;
    let fb = motor.query()?.unwrap();
    assert_eq!(fb.speed_rpm, 100);
    let mock = motor.into_transport().unwrap();
    assert_eq!(mock.sent.len(), 1);
    Ok(())
}

fn main() {}