Camper-Monitor/Shared/Bluetooth/LevelSession.swift

import CoreBluetooth
import Foundation

/// Hält die Verbindung zum Neigungsmesser.
///
/// Deutlich einfacher als die BMS-Sitzung: Dienst und Charakteristiken sind
/// bekannt, es gibt kein Rahmenprotokoll und keine Protokollerkennung. Jede
/// Messgrösse liegt in einer eigenen Charakteristik.
///
/// Bevorzugt werden die Werte abonniert – die Firmware ab v1.1 schickt sie
/// dann von selbst, sobald sie sich ändern. Ältere Firmware bietet nur
/// Lesen an; dafür bleibt das Abfragen im Takt als Rückfallebene, damit die
/// App auch ohne Neuaufspielen funktioniert.
final class LevelSession: NSObject {

    static let serviceUUID = CBUUID(string: VanAlignProtocol.serviceUUID)
    private static let pitchUUID = CBUUID(string: VanAlignProtocol.pitchUUID)
    private static let rollUUID = CBUUID(string: VanAlignProtocol.rollUUID)
    private static let offsetsUUID = CBUUID(string: VanAlignProtocol.offsetsUUID)
    private static let calibrateUUID = CBUUID(string: VanAlignProtocol.calibrateUUID)

    let deviceID: UUID
    private let queue: DispatchQueue
    private let peripheral: CBPeripheral
    private let onUpdate: (DeviceSnapshot) -> Void
    private let onStateChange: (DeviceLinkState) -> Void
    private let onLevelState: (LevelState) -> Void

    private var pitchCharacteristic: CBCharacteristic?
    private var rollCharacteristic: CBCharacteristic?
    private var offsetsCharacteristic: CBCharacteristic?
    private var calibrateCharacteristic: CBCharacteristic?

    private var state = LevelState()
    /// Aus den Geräteeinstellungen; rechnet Sensor- in Fahrzeugachsen um.
    var orientation = SensorOrientation.identity {
        didSet { applyOrientation() }
    }
    private var pollTimer: DispatchSourceTimer?
    /// Nur nötig, solange das Gerät die Werte nicht von selbst schickt.
    private var needsPolling = false

    /// Beim Ausrichten schaut man dauernd aufs Gerät, deshalb dichter als bei
    /// den übrigen Geräten.
    var pollInterval: TimeInterval = 0.5

    init(deviceID: UUID,
         peripheral: CBPeripheral,
         queue: DispatchQueue,
         onUpdate: @escaping (DeviceSnapshot) -> Void,
         onStateChange: @escaping (DeviceLinkState) -> Void,
         onLevelState: @escaping (LevelState) -> Void) {
        self.deviceID = deviceID
        self.queue = queue
        self.peripheral = peripheral
        self.onUpdate = onUpdate
        self.onStateChange = onStateChange
        self.onLevelState = onLevelState
        super.init()
        peripheral.delegate = self
    }

    // MARK: - Lebenszyklus

    func start() {
        onStateChange(.connecting)
        peripheral.discoverServices([Self.serviceUUID])
    }

    func stop() {
        pollTimer?.cancel()
        pollTimer = nil
        if peripheral.state == .connected {
            for characteristic in [pitchCharacteristic, rollCharacteristic] {
                guard let characteristic, characteristic.isNotifying else { continue }
                peripheral.setNotifyValue(false, for: characteristic)
            }
        }
        pitchCharacteristic = nil
        rollCharacteristic = nil
        offsetsCharacteristic = nil
        calibrateCharacteristic = nil
    }

    func handleDisconnect() {
        pollTimer?.cancel()
        pollTimer = nil
        pitchCharacteristic = nil
        rollCharacteristic = nil
        offsetsCharacteristic = nil
        calibrateCharacteristic = nil
    }

    // MARK: - Kalibrieren

    /// Setzt die aktuelle Lage als neue Null.
    func calibrate() {
        write(VanAlignProtocol.calibrateCommand)
    }

    /// Verwirft die Kalibrierung.
    func resetCalibration() {
        write(VanAlignProtocol.resetCommand)
    }

    private func write(_ data: Data) {
        guard let characteristic = calibrateCharacteristic, peripheral.state == .connected else {
            return
        }
        let type: CBCharacteristicWriteType =
            characteristic.properties.contains(.write) ? .withResponse : .withoutResponse
        peripheral.writeValue(data, for: characteristic, type: type)
        // Die Offsets erst nach dem Rechnen im Gerät zurücklesen.
        queue.asyncAfter(deadline: .now() + 0.4) { [weak self] in
            self?.readOffsets()
        }
    }

    private func readOffsets() {
        guard let offsetsCharacteristic, peripheral.state == .connected else { return }
        peripheral.readValue(for: offsetsCharacteristic)
    }

    // MARK: - Abfrage

    private func startPollingIfNeeded() {
        guard needsPolling, pollTimer == nil else { return }
        let timer = DispatchSource.makeTimerSource(queue: queue)
        timer.schedule(deadline: .now(), repeating: pollInterval)
        timer.setEventHandler { [weak self] in
            guard let self, self.peripheral.state == .connected else { return }
            if let pitchCharacteristic = self.pitchCharacteristic {
                self.peripheral.readValue(for: pitchCharacteristic)
            }
            if let rollCharacteristic = self.rollCharacteristic {
                self.peripheral.readValue(for: rollCharacteristic)
            }
        }
        timer.resume()
        pollTimer = timer
    }

    /// Rechnet die Rohwerte in Fahrzeugachsen um.
    private func applyOrientation() {
        let corrected = orientation.apply(pitch: state.rawPitch, roll: state.rawRoll)
        state.pitch = corrected.pitch
        state.roll = corrected.roll
    }

    private func publish() {
        guard state.hasReading else { return }
        onStateChange(.live)
        onLevelState(state)
        onUpdate(state.snapshot(deviceID: deviceID, rssi: nil))
    }
}

// MARK: - CBPeripheralDelegate

extension LevelSession: CBPeripheralDelegate {

    func peripheral(_ peripheral: CBPeripheral, didDiscoverServices error: Error?) {
        if let error {
            onStateChange(.failed(error.localizedDescription))
            return
        }
        guard let service = peripheral.services?.first(where: { $0.uuid == Self.serviceUUID }) else {
            onStateChange(.failed("Neigungsmesser-Dienst nicht gefunden"))
            return
        }
        peripheral.discoverCharacteristics(
            [Self.pitchUUID, Self.rollUUID, Self.offsetsUUID, Self.calibrateUUID],
            for: service
        )
    }

    func peripheral(_ peripheral: CBPeripheral,
                    didDiscoverCharacteristicsFor service: CBService,
                    error: Error?) {
        guard error == nil, let characteristics = service.characteristics else {
            onStateChange(.failed(error?.localizedDescription ?? "Keine Merkmale gefunden"))
            return
        }

        for characteristic in characteristics {
            switch characteristic.uuid {
            case Self.pitchUUID:     pitchCharacteristic = characteristic
            case Self.rollUUID:      rollCharacteristic = characteristic
            case Self.offsetsUUID:   offsetsCharacteristic = characteristic
            case Self.calibrateUUID: calibrateCharacteristic = characteristic
            default: break
            }
        }

        guard pitchCharacteristic != nil || rollCharacteristic != nil else {
            onStateChange(.failed("Neigungswerte nicht gefunden"))
            return
        }

        // Abonnieren, wo möglich; sonst im Takt abfragen.
        var subscribed = false
        for characteristic in [pitchCharacteristic, rollCharacteristic] {
            guard let characteristic else { continue }
            if characteristic.properties.contains(.notify) {
                peripheral.setNotifyValue(true, for: characteristic)
                subscribed = true
            }
        }
        needsPolling = !subscribed
        startPollingIfNeeded()

        // Einmal alles lesen, damit sofort etwas dasteht.
        for characteristic in [pitchCharacteristic, rollCharacteristic, offsetsCharacteristic] {
            guard let characteristic, characteristic.properties.contains(.read) else { continue }
            peripheral.readValue(for: characteristic)
        }
    }

    func peripheral(_ peripheral: CBPeripheral,
                    didUpdateValueFor characteristic: CBCharacteristic,
                    error: Error?) {
        guard error == nil, let value = characteristic.value else { return }

        switch characteristic.uuid {
        case Self.pitchUUID:
            state.rawPitch = VanAlignProtocol.angle(from: value)
            applyOrientation()
        case Self.rollUUID:
            state.rawRoll = VanAlignProtocol.angle(from: value)
            applyOrientation()
        case Self.offsetsUUID:
            if let offsets = VanAlignProtocol.offsets(from: value) {
                state.pitchOffset = offsets.pitch
                state.rollOffset = offsets.roll
            }
        default:
            return
        }
        publish()
    }

    func peripheral(_ peripheral: CBPeripheral,
                    didUpdateNotificationStateFor characteristic: CBCharacteristic,
                    error: Error?) {
        // Lässt sich nicht abonnieren, dann eben abfragen.
        if error != nil {
            needsPolling = true
            startPollingIfNeeded()
        }
    }
}