/**
 * @file watchMain.cpp
 * @author Gustice
 * @brief ChaosWatch Application
 */

/* Watchface
        6/
    5   /   1
    4       2
        3
*/
// Profiles = 5 (0..4)
// DynRange =
// MinSteps (6..20), MaxSteps (10..40)
// activeState.accel = (min .5 / max 3)
// activeState.speed = (min .5 / max 3)

#include "watchMain.hpp"
#include "config.hpp"

using namespace spit;

string ClientName = "CatasWatchDev";
string ProjectName = "CatastrphicProj";

extern "C" { // This switch allows the ROS C-implementation to find this main
void app_main(void);
}

struct DeviceState {
    uint8_t minJumps{6};
    uint8_t maxJumps{32};
    uint8_t profile{};
    uint8_t shuffleRate{};
    float speed = 1.0; // Rad/sec
    float accel = 1.0; // Rad/sec^2
    Color color{0x80, 0x80, 0x80};
};

enum class MoveType {
    StepTo,
    Demo,
    Shuffle,
};
enum class ResponseType {
    StepAt,
    StartMoving,
};
struct MoveCommand {
    MoveType type;
    // 1..6
    uint8_t pos;
};
struct WatchIndex {
    ResponseType type;
    // 1..6
    uint8_t pos;
};
struct PictoIllumCommand {
    uint8_t pos; // 0 for none / Valid indexes 1 .. 6
};

static fos::Queue<MoveCommand> commandQueue(8);
static fos::Queue<WatchIndex> responseQueue(8);
static fos::Queue<PictoIllumCommand> pictoIllumQue(2);

DeviceState activeState;
static const char *TAG = "Watch";
bool EthernetIsConnected = false;

std::unique_ptr<Cli> pShell;

void onCommand(std::string name, Cli::CArgs args) {
    ESP_LOGI(TAG, "Invoking: %s", name.c_str());
}

void startUpdate(Cli::CArgs args) {
    ESP_LOGI(TAG, "Invoking Update");
    if (args.size() != 1) {
        pShell->writeLine("Need URL to application");
        return;
    }
    // @ToDo: Start Update here
}

void getConfig(Cli::CArgs args) {
    if (args.size() != 1) {
        pShell->writeLine("Needs string key for query");
        return;
    }
    auto key = args[0];
    auto &store = NvsApi::getInstance();
    auto val = store.getValue(key);
    pShell->writeLine(key + ": " + val + "");
}

void testPictoIllum(Cli::CArgs args) {
    if (args.size() != 1) {
        pShell->writeLine("Needs position argument for illuminated position 0 for off, 1..6 for pictograms");
        return;
    }
    try {
        int p = std::stoi(args[0]);
        pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(p));
    } catch (const std::exception &e) {
        ESP_LOGI(TAG, "Failed to parse %s", args[0].c_str());
    }
}

void testMovement(Cli::CArgs args) {
    ESP_LOGI(TAG, "on triggerMovement:");
    if (args.size() < 1) {
        pShell->writeLine("need target position (1..6)");
        pShell->writeLine("additional optional arguments: Profile (0..4), MinSteps (6..20), MaxSteps (10..40)");
        return;
    }
    try {
        int p = std::stoi(args[0]);
        if (args.size() >= 2) {
            activeState.profile = std::min(4, std::stoi(args[1]));
        }
        if (args.size() >= 3) {
            activeState.minJumps = std::min(20, std::stoi(args[2]));
        }
        if (args.size() >= 4) {
            activeState.minJumps = std::min(40, std::stoi(args[3]));
        }
        commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::StepTo, p));
    } catch (const std::exception &e) {
        ESP_LOGI(TAG, "Failed to parse %s", args[0].c_str());
    }
}

void testFeedback(Cli::CArgs args) {
    ESP_LOGI(TAG, "on triggerMovement:");
    if (args.size() != 1) {
        pShell->writeLine("need target position (1..6) or 0 for moving");
        return;
    }
    try {
        int p = std::stoi(args[0]);
        if (p == 0) {
            responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
        } else {
            responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, p));
        }

    } catch (const std::exception &e) {
        ESP_LOGI(TAG, "Failed to parse %s", args[0].c_str());
    }
}

void setConfig(Cli::CArgs args) {
    if (args.size() != 2) {
        pShell->writeLine("Needs string key and value");
        return;
    }
    auto key = args[0];
    auto val = args[1];

    auto &store = NvsApi::getInstance();
    pShell->writeLine(std::string{"Storing value = '"} + val + "'");
    store.setValue(key, val);
}

void setLogServerConfig(Cli::CArgs args) {
    ESP_LOGI(TAG, "on showLogServerConfig:");
    auto &store = NvsApi::getInstance();
    if (args.size() != 1) {
        auto logger = store.getValue("syslogDst");
        pShell->writeLine(std::string{"syslog destination = '"} + logger + "'");
        pShell->writeLine("provide argument to change syslog server");
        return;
    }
    pShell->writeLine(std::string{"setting syslog destination to = '"} + args[0] + "'");
    store.setValue("syslogDst", args[0]);
}

void setDynamics(Cli::CArgs args) {
    ESP_LOGI(TAG, "on setDynamics:");
    if (args.size() != 2) {
        pShell->writeLine("need float values for velocity and acceleration");
        return;
    }

    try {
        float v = std::stof(args[0]);
        float a = std::stof(args[1]);
        activeState.accel = a;
        activeState.speed = v;
    } catch (const std::exception &e) {
        ESP_LOGI(TAG, "Failed to parse %s and %s", args[0].c_str(), args[1].c_str());
    }
}

void showProcessValues(Cli::CArgs args) {
    pShell->writeLine("Process values:");
    char buff[256];

    sprintf(buff, "%02x,%02x,%02x", activeState.color.getRed(), activeState.color.getGreen(), activeState.color.getBlue());
    pShell->writeLine(std::string{"    Color RGB:   "} + buff);
    sprintf(buff, "%.2f / %.2f", activeState.accel, activeState.speed);
    pShell->writeLine(std::string{"    Accel/Speed: "} + buff);
    pShell->writeLine(std::string{"    JumpRange:   "} + std::to_string((int)activeState.minJumps) + " .. " + std::to_string((int)activeState.maxJumps));
    pShell->writeLine(std::string{"    Provile:     "} + std::to_string((int)activeState.profile));
}

void setSyslogLevel(Cli::CArgs args) {
    if (args.size() != 1) {
        pShell->writeLine("Needs SyslogLevel Warning = 4, Notice = 5, Informational = 6, Debug = 7");
        return;
    }

    try {
        auto lvl = std::stoi(args[0]);
        if (lvl >= (int)Syslog::Severity::Warning && lvl <= (int)Syslog::Severity::Debug) {
            Syslog::setSeverity((Syslog::Severity)lvl);
        } else {
            pShell->writeLine("New level was not accepted");
        }
    } catch (const std::exception &e) {
        ESP_LOGI(TAG, "Failed to parse %s", args[0].c_str());
    }
}

/**
 * @brief Telnet socket via TCP/IP
 *
 * @details The ini-file for TeraTerm only changes CRReceive and CRSend values both to "=CR"
 * @param arg ignored task argument
 */
static void telnetSocketTask(int addrFamily) {
    ESP_LOGI(TAG, "Starting Telnet task");
    try {
        TelnetServer telnet(addrFamily);
        telnet.run(
            [](TcpSession &session) {
                pShell = std::make_unique<Cli>(session, [](std::string n, Cli::CArgs a) { onCommand(n, a); });
                pShell->addBinding(
                    {"update", "Start OTA-Update-Process",
                     [](Cli::CArgs a) { startUpdate(a); }});
                pShell->addBinding(
                    {"setLogserver", "Set log server config ip",
                     [](Cli::CArgs a) { setLogServerConfig(a); }});
                pShell->addBinding(
                    {"setLogLevel", "Set severity log server",
                     [](Cli::CArgs a) { setSyslogLevel(a); }});

                pShell->addBinding(
                    {"getcfg", "Get configuration value for key",
                     [](Cli::CArgs a) { getConfig(a); }});
                pShell->addBinding(
                    {"setcfg", "Set configuration value by key and value",
                     [](Cli::CArgs a) { setConfig(a); }});

                pShell->addBinding(
                    {"setDyn", "set dynamics of movement (velocity,accelerations) as floats",
                     [](Cli::CArgs a) { setDynamics(a); }});
                pShell->addBinding(
                    {"tstMove", "start movement (profile-idx,steps) as integers ",
                     [](Cli::CArgs a) { testMovement(a); }});
                pShell->addBinding(
                    {"tstIllum", "test illumination command 0=off /1..6",
                     [](Cli::CArgs a) { testPictoIllum(a); }});
                pShell->addBinding(
                    {"tstFb", "test feedback-channel to control 0=Move /1..6=FinalPos",
                     [](Cli::CArgs a) { testFeedback(a); }});
                pShell->addBinding(
                    {"showData", "Show process values that are input by DMX, MQTT and SPIT",
                     [](Cli::CArgs a) { showProcessValues(a); }});
            },
            [](TcpSession &session) {
                pShell->process();
                Syslog::setupTask(session.getOther());
            });
    } catch (const std::exception &e) {
        ESP_LOGE("TCP", "%s", e.what());
    }
    vTaskDelete(NULL);
}

constexpr uint32_t DmxUniverse = 0;
constexpr int DmxChannelCount = 9;

uint8_t scaledRgbChannel(uint8_t value, float scale) {
    return static_cast<uint8_t>(value * scale);
}

/**
 * @brief Callback for ArtNet DMX-socket. Does not send data only updates the image
 *
 * @param data Pointer to dmx-values
 * @param size length of dmx-values
 */
static void UniverseCallback(const uint8_t *data, const uint16_t size) {
    int len = std::min(static_cast<int>(size), DmxChannelCount);
    ESP_LOGD(TAG, "Got DMX");
    ESP_LOG_BUFFER_HEXDUMP("DMX", data, len, ESP_LOG_DEBUG);
    Syslog::logv(Syslog::Severity::Debug, "Got DMX: r%0x g%0x b%0x i%0x  m%i M%i p%i a%i w%i r%i",
                 /* RGB*/ data[0], data[1], data[2], /*Intens*/ data[3],
                 /* MinMaxJumps */ data[4], data[5], /*profile*/ data[6], /*accel/speed*/ data[7], data[8],
                 /*shuffleRate*/ data[9]);

    float intens = (float)data[3] / UINT8_MAX;
    activeState.color = Color{
        scaledRgbChannel(data[0], intens),
        scaledRgbChannel(data[1], intens),
        scaledRgbChannel(data[2], intens),
        0};

    activeState.minJumps = data[4];
    activeState.maxJumps = data[5];
    activeState.profile = data[6];

    uint8_t accel = data[7];
    uint8_t velo = data[8];
    activeState.accel = (float)accel / 100 + 0.5; // min .5 / max 3
    activeState.speed = (float)velo / 100 + 0.5;  // min .5 / max 3

    activeState.shuffleRate = data[9];
}

void moveToSubs(std::string data) {
    ESP_LOGI(TAG, "MoveTo command '%s'", data.c_str());
    try {
        int p = std::stoi(data);
        Syslog::logv(Syslog::Severity::Informational, "got MoveTo-Cmd->%i", p);
        commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::StepTo, p));
    } catch (const std::exception &e) {
        ESP_LOGE(TAG, "Error to process data %s, with ex: %s", data.c_str(), e.what());
    }
}

void startShuffle(std::string data) {
    ESP_LOGI(TAG, "StartShuffle command %s", data.c_str());
    try {
        Syslog::logv(Syslog::Severity::Informational, "got Shuffle-Command");
        commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::Shuffle, 0));
    } catch (const std::exception &e) {
        ESP_LOGE(TAG, "Error to process data %s, with ex: %s", data.c_str(), e.what());
    }
}

/**
 * @brief DMX-Socket for ArtNet TCP/IP
 *
 * @details Tested with [Q Light Controller+](https://www.qlcplus.org/)
 * @param args ignored task argument
 */
static void dmxSocketSenderTask(UdpSocket &socket) {
    try {
        ArtnetSender artnet(socket);
        std::array<uint8_t, 16> data;
        while (socket.isActive()) {
            data[0]++;
            artnet.send("", 0, data.data(), data.size());
            fos::Task::delayMs(500);
        }

    } catch (const std::exception &e) {
        ESP_LOGE("UDP", "%s", e.what());
    }
}

/**
 * @brief DMX-Socket for ArtNet TCP/IP
 *
 * @details Tested with [Q Light Controller+](https://www.qlcplus.org/)
 * @param args ignored task argument
 */
static void dmxSocketTask(int addrFamily) {
    ESP_LOGI(TAG, "Starting ArtNet task");
    constexpr uint16_t ArtNetPort = arx::artnet::DEFAULT_PORT;
    IpAdr address = addrFamily == AF_INET ? IpAdr(INADDR_ANY, ArtNetPort) : IpAdr(ArtNetPort);

    try {
        while (true) {
            UdpSocket socket(address);
            socket.bindTo();

            ArtnetReceiver artnet(socket);
            artnet.subscribe(DmxUniverse, UniverseCallback);
            artnet.parse();
            // parse artnet as long socket is active, then restart socket
            while (socket.isActive()) {
                ESP_LOGD(TAG, "Waiting for data");
                artnet.parse();
            }
        }

    } catch (const std::exception &e) {
        ESP_LOGE("UDP", "%s", e.what());
    }
}

fos::Semaphore etherActive;
fos::Semaphore spitProjectFinish;

/** Event handler for IP_EVENT_ETH_GOT_IP */
void got_ip_event_handler(void *arg, esp_event_base_t event_base,
                          int32_t event_id, void *event_data) {
    ip_event_got_ip_t *event = (ip_event_got_ip_t *)event_data;
    const esp_netif_ip_info_t *ip_info = &event->ip_info;

    ESP_LOGI(TAG, "Ethernet Got IP Address");
    ESP_LOGI(TAG, "~~~~~~~~~~~");
    ESP_LOGI(TAG, "ETHIP:" IPSTR, IP2STR(&ip_info->ip));
    ESP_LOGI(TAG, "ETHMASK:" IPSTR, IP2STR(&ip_info->netmask));
    ESP_LOGI(TAG, "ETHGW:" IPSTR, IP2STR(&ip_info->gw));
    ESP_LOGI(TAG, "~~~~~~~~~~~");
    etherActive.give();
}

static void initialize_ethernet(void) {
    uint8_t eth_port_cnt = 0;
    esp_eth_handle_t *eth_handles;
    ESP_ERROR_CHECK(eth_init(&eth_handles, &eth_port_cnt));
    if (eth_port_cnt > 1) {
        ESP_LOGW(TAG, "multiple Ethernet devices detected, the first initialized is to be used!");
    }

    static esp_eth_handle_t s_eth_handle = NULL;
    s_eth_handle = eth_handles[0];
    free(eth_handles);

    // Initialize TCP/IP network interface aka the esp-netif (should be called only once in application)
    ESP_ERROR_CHECK(esp_netif_init());
    // Create default event loop that running in background
    ESP_ERROR_CHECK(esp_event_loop_create_default());

    // Use ESP_NETIF_DEFAULT_ETH when just one Ethernet interface is used and you don't need to modify
    // default esp-netif configuration parameters.
    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_ETH();
    esp_netif_t *eth_netif = esp_netif_new(&cfg);
    // Attach Ethernet driver to TCP/IP stack
    ESP_ERROR_CHECK(esp_netif_attach(eth_netif, esp_eth_new_netif_glue(s_eth_handle)));

    ESP_ERROR_CHECK(esp_event_handler_register(ETH_EVENT, ESP_EVENT_ANY_ID, eth_event_handler, NULL));
    ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_ETH_GOT_IP, &got_ip_event_handler, NULL));
    ESP_ERROR_CHECK(esp_eth_start(s_eth_handle));
}

namespace Effect {
extern const WaveForm_t OffsetPulseWave{gau8_offsetPulse, cu16_TemplateLength};
extern const WaveForm_t InitSlopeWave{gau8_initSlope, cu16_TemplateLength};
extern const WaveForm_t OffsetSlopeWave{gau8_offsetSlope, cu16_TemplateLength};
extern const WaveForm_t FullSlopeWave{gau8_fullSlope, cu16_TemplateLength};
extern const WaveForm_t FullPulseWave{gau8_fullPulse, cu16_TemplateLength};

const Macro macDemoStart = {
    {64, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
    {32, 1, StateMachine::UpdateIdle, 0xFF},
};

const Macro macDemoPulse = {
    {64, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
    {32, 2, StateMachine::UpdateIdle, 0xFF},
    {64, 1, &OffsetPulseWave, StateMachine::UpdateWave, 0xFF},
};

const Macro macDemoFlicker = {
    {16, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
    {32, 1, StateMachine::UpdateFlicker, 0xFF},
};
} // namespace Effect

void LightingTask() {
    ESP_LOGI(TAG, "Start Lighting");

    static I2cMaster master(I2C_NUM_0,
                            {/*sda=*/GPIO_NUM_10, /*scl=*/GPIO_NUM_11});
    // static PmwExpanderPca9685 pca9685(master);
    static PmwExpanderPca9685 ledDriver1(master, /*iverted=*/false);
    static PmwExpanderPca9685 ledDriver2(master, /*iverted=*/false, 0x41);
    PmwExpanderPca9685::GrayValues values[2]{};

    OutputPort pwmEnable(GPIO_NUM_1, GpioPort::Logic::Inverted);
    pwmEnable.write(true);

    auto const &colorSource = activeState.color;
    std::array<Effect::EffectProcessor, 6> processors{
        Effect::EffectProcessor(8),
        Effect::EffectProcessor(8),
        Effect::EffectProcessor(8),
        Effect::EffectProcessor(8),
        Effect::EffectProcessor(8),
        Effect::EffectProcessor(8)};
    processors[0].setEffect(Effect::macDark, &colorSource, 0);
    processors[1].setEffect(Effect::macDark, &colorSource, 0);
    processors[2].setEffect(Effect::macDark, &colorSource, 0);
    processors[3].setEffect(Effect::macDark, &colorSource, 0);
    processors[4].setEffect(Effect::macDark, &colorSource, 0);
    processors[5].setEffect(Effect::macDark, &colorSource, 0);

    const std::array<Effect::Macro, 6> PictoEffects{
        Effect::macDemoPulse, // 1
        Effect::macDemoPulse,
        Effect::macDemoPulse,
        Effect::macDemoPulse,
        Effect::macStartFlicker,
        Effect::macDemoPulse}; // 6

    uint8_t lastPicto = 1;

    std::array<uint16_t *, 6> startPoints{
        &(values[0][4]), // 1
        &(values[1][12]),
        &(values[1][8]),
        &(values[1][4]),
        &(values[0][12]),
        &(values[0][8]), // 6
    };

    while (true) {
        auto onPos = pictoIllumQue.tryDequeue();
        if (onPos) {
            ESP_LOGI(TAG, "Changing picto-Illum to pos = %i", onPos->pos);
            ESP_LOGI(TAG, "Current color set r%i g%i b%i ",
                     activeState.color.getRed(), activeState.color.getGreen(), activeState.color.getBlue());
            auto pos = onPos->pos;
            if (pos == 0) {
                Syslog::logv(Syslog::Severity::Informational,
                             "Dimming picto-illum pos:%i ", lastPicto);
                processors[lastPicto - 1].setEffect(Effect::macDark, &colorSource, 0);
            } else if ((pos >= 1) && (pos <= 6)) {
                auto idx = pos - 1;
                Syslog::logv(Syslog::Severity::Informational,
                             "Firing picto-illum pos:%i ", pos);
                processors[idx].setEffect(PictoEffects[idx], &colorSource, 0);
                lastPicto = pos;
            } else {
                Syslog::logv(Syslog::Severity::Error,
                             "Got invalid index for illuminated pictogram =%i ", pos);
            }
        }

        for (size_t i = 0; i < processors.size(); i++) {
            auto col = processors[i].tick();
            auto sp = startPoints[i];
            sp[0] = (uint16_t)(col.getWhite()) << 7;
            sp[1] = (uint16_t)(col.getBlue()) << 7;
            sp[2] = (uint16_t)(col.getGreen()) << 7;
            sp[3] = (uint16_t)(col.getRed()) << 7;
        }

        ledDriver1.send(values[0]);
        ledDriver2.send(values[1]);
        fos::Task::delayMs(40);
    }
}

void MovementTask() {
    ESP_LOGI(TAG, "Start Stepper");
    constexpr int MicroSteps = 32;
    StepperDriverDrv8833::Pins stepperPins{
        LEDC_TIMER_0,
        {LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3},
        {GPIO_NUM_21, GPIO_NUM_20, GPIO_NUM_23, GPIO_NUM_22},
    };
    
    float power = 0.25F;
    // try
    // {
    //     auto pwr = store.getValue(ConfigKeys.motorPower);
    //     power = std::stof(pwr);
    // }
    // catch(...)
    // {
    //     std::cerr << e.what() << '\n';
    //     ESP_LOGI("Stepper", "Applying default");
    // }

    StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps, power);
    stepperDriver.setPos(0);

    StepperConfig stepperCfg{1.8F, MicroSteps};
    InputPort initSens(GPIO_NUM_18);

    InputPort motorFault(GPIO_NUM_8);
    motorFault.setLogic(GpioPort::Logic::Inverted);

    OutputPort motorSleep(GPIO_NUM_15, GpioPort::Logic::Inverted);
    motorSleep.write(false);

    StepperMotor stepper(stepperCfg, stepperDriver, initSens);

    SyslogInst logger;
    WatchMotor watch(stepper, [](uint8_t newPos) {
        pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
        responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
    }, logger);

    ESP_LOGI("Stepper", "Find Home");
    stepper.findRef();
    // Todo Set by User-Interface
    for (size_t i = 0; i < 7; i++) {
        stepper.fullStep(1);
        fos::Task::delayMs(40);
    }
    (void)stepper.zeroPosition();
    while (!stepper.isIdle()) {
        fos::Task::delayMs(40);
    }
    // watch.moveTo(1, ProfileGenerator::Unitform);
    ESP_LOGI("Stepper", "Got to 1");
    // Illum 6
    pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));

    ESP_LOGI(TAG, "Fist Position is %.2f", watch.getScaled());
    fos::Task::delayMs(1000);

    while (true) {
        ESP_LOGD(TAG, "Waiting for command");
        auto cmd = commandQueue.dequeue();
        if (cmd->type == MoveType::StepTo) {
            if (stepper.isIdle()) {
                int newPos = cmd->pos;
                if ((newPos >= 1) && (newPos <= 6)) {
                    Syslog::logv(Syslog::Severity::Informational,
                                 "Triggered movement to picto pos:%i ", newPos);
                } else {
                    Syslog::logv(Syslog::Severity::Error,
                                 "Got invalid index for illuminated pictogram =%i ", newPos);
                    continue;
                }

                Syslog::logv(Syslog::Severity::Notice,
                             "Running Stepper by min%i steps with prof=%i a=%.2f w=%.2f",
                             activeState.minJumps, activeState.profile, activeState.accel, activeState.speed);
                pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
                responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
                auto &as = activeState;
                watch.moveTo(newPos, as.profile, as.minJumps, as.accel, as.speed);
                // pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
                // responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
            }
        } else if (cmd->type == MoveType::Shuffle) {
            Syslog::logv(Syslog::Severity::Informational,
                         "Starting Shuffle mode");
            while (true) {
                int pos = Random::randomWithIn(1,6); 
                int profile = Random::randomWithIn(0,3); 
                if (stepper.isIdle()) {
                    Syslog::logv(Syslog::Severity::Notice,
                                 "Running Stepper to %i by min%i steps with prof=%i a=%.2f w=%.2f",
                                 pos, activeState.minJumps, activeState.profile, activeState.accel, activeState.speed);
                    pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
                    responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
                    auto &as = activeState;
                    watch.moveTo(pos, profile, as.minJumps, as.accel, as.speed);
                }
                // int delay = Random::randomWithIn(20000,100000)/portTICK_PERIOD_MS;
                int delay = Random::randomWithIn(2000,3000)/portTICK_PERIOD_MS;
                Syslog::logv(Syslog::Severity::Informational,
                                "ShuffleMode Wait for %i", delay);
                auto cmd = commandQueue.tryDequeueFor(delay);
                if (cmd) {
                    if (cmd->type != MoveType::Shuffle) {
                        commandQueue.enqueue(std::move(cmd));
                        break;
                    }
                }
            }
        } else if (cmd->type == MoveType::Demo) {
            ESP_LOGI(TAG, "Running Demo");
            for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
                ESP_LOGI(TAG, "Running Profile %d ", i);
                fos::Task::delayMs(1000);
                int steps[3]{4, 2, 0};
                for (size_t j = 0; j < 3; j++) {
                    watch.moveTo(steps[j], i, 1, 1, 1);
                    fos::Task::delayMs(1000);
                }
            }
        } else {
            fos::Task::delayMs(100);
        }
    }
}

struct LocalSpitObj {
    string iD;
    string groupName;
    string name;
};
std::map<string, MoveCommand> ProvidedSpitActions;
std::map<string, string> ExpectedObjects;

void onServerEvent(SClient::ServerEvent event, const SadDetectedServer &p_DetectedServer) {
    switch (event) {
    case SClient::ServerEvent::Detect:
        ESP_LOGI(TAG, "SERVER DETECTED");
        ESP_LOGI(TAG, " Name: %s", p_DetectedServer.getName().data());
        ESP_LOGI(TAG, " ID: %s", p_DetectedServer.getID().data());
        ESP_LOGI(TAG, " Computer: %s", p_DetectedServer.getComputerName().data());
        ESP_LOGI(TAG, " IP: %s", p_DetectedServer.getIP().data());
        ESP_LOGI(TAG, " Port: %s", p_DetectedServer.getPort().data());
        ESP_LOGI(TAG, " Addition: %s", p_DetectedServer.getAdditions().data());
        ESP_LOGI(TAG, " ClientIP: %s", p_DetectedServer.getClientIP().data());
        break;
    case SClient::ServerEvent::Lost:
        ESP_LOGW(TAG, "Server lost Name: %s  IP: %s", p_DetectedServer.getName().data(), p_DetectedServer.getIP().data());

        break;
    case SClient::ServerEvent::Changed:
        ESP_LOGW(TAG, "Server lost Name: %s  IP: %s", p_DetectedServer.getName().data(), p_DetectedServer.getIP().data());
        break;

    default:
        break;
    }
}

void onConnectionStatus(string p_ServerID, string p_ServerComputerName, string p_ServerName, int p_ServerStepTime,
                        SClient::Connection p_ConnectionStatus, SClient::Connection p_OldConnectionStatus) {
    ESP_LOGI(TAG, "MySPITApp: eventConnectionStatus %d->%d ", (int)p_OldConnectionStatus, (int)p_ConnectionStatus);
}

// The transfer of the server's SPITTypes and SPITObjects is finished.
void onProjectUpdate(SClient::ProjUpdate state, string projectId) {

    switch (state) {
    case SClient::ProjUpdate::ServerLoaded:
        ESP_LOGI(TAG, "eventProjectReport ID: %s ", projectId.data());
        break;
    case SClient::ProjUpdate::StartTransfer:
        ESP_LOGI(TAG, "eventStartProjectTransfer");
        break;
    case SClient::ProjUpdate::EndTransfer:
        ESP_LOGI(TAG, "eventEndProjectTransfer");
        spitProjectFinish.give();
        break;
    case SClient::ProjUpdate::ServerClosed:
        ESP_LOGI(TAG, "eventProjectClosed ID: %s", projectId.data());
        // If we don't save SPITServer's project specific information
        // perhaps close all SPITObjects and RemoteSPITObjects to avoid conflicts, when the SPITServer loads a new project
        // SPITObject::clearSPITObjects();
        // SPITObject::clearSPITObjectsRemote();
        break;

    default:
        break;
    }
}

bool onCheckSpitTypeVeto(bool knownType, bool createdByClient) {
    return true;                          // Bypass veto
    if (!knownType || !createdByClient) { // Don't allow foreign SPITTypes
        return false;
    }
    return true;
}

bool onCheckSpitObjectVeto(bool knownType) {
    return true;      // Bypass veto
    if (!knownType) { // Don't allow objects of unregistered SPITTypes
        return false;
    }

    return true;
}

// Called when the server has created, loaded, changed or deleted a (Remote) SPITType.
// Remote SPITType are used in Remote SPITObjects. A Remote SPITObject is used to remote control the SPITServer.
// May also occur when the server confirms a SPITType created or changed by the client.
void onSpitType(SClient::ObjectEvent event, bool isRemote, const SType &sType) {
    if (isRemote) {
        if (event == SClient::ObjectEvent::Created) {
            ESP_LOGI(TAG, "NEW SPIT-REMOTE-Type ID: %s GroupName: %s Name: %s confirmed: %d", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data(), sType.getConfirmed());
            auto typeName = sType.Name.get();
            if (ExpectedObjects.contains(typeName)) {
                ExpectedObjects[typeName] = sType.getID();
            }
        } else if (event == SClient::ObjectEvent::Changed) {
            // we had to inform all Remote SPITObjects using the p_SPITType
            // perhaps the SPITObject uses information from the SPITType
            // SPITObject *ptrSPITObject;
            // int intSPITObjectCount;
            // intSPITObjectCount = SPITObject::getSPITObjectRemoteCount();
            // for (int intObject = 0; intObject < intSPITObjectCount; intObject++) {
            //     ptrSPITObject = SPITObject::getSPITObjectRemote(intObject);
            //     if (ptrSPITObject == nullptr)
            //         continue;
            //     if (ptrSPITObject->getSPITTypeID() == p_SPITType.getID()) {
            //         // call ecentSPITObjectRemote
            //         // onSpitObjectRemote(SClient::ObjectEvent::Changed, p_SPITType, *ptrSPITObject);
            //     }
            // }
            // ESP_LOGI(TAG, "SPIT-REMOTE-Type CHANGED ID: %s GroupName: %s Name: %s confirmed: %d", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data(), sType.getConfirmed());
        } else if (event == SClient::ObjectEvent::Deleted) {
            ESP_LOGD(TAG, "SPIT-REMOTE-Type Removed ID: %s GroupName: %s Name: %s\n", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data());
        }
    } else {
        if (event == SClient::ObjectEvent::Created) {
            // Whenever you provide an action for this SPITType take this over in your code.
            // call _SpitClient.setActionSPITType(sType.getID(), true);
            // ESP_LOGI(TAG, "NEW SPIT-Type ID: %s GroupName: %s Name: %s confirmed: %d", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data(), sType.getConfirmed());
        } else if (event == SClient::ObjectEvent::Changed) {
            // ESP_LOGI(TAG, "SPIT-Type CHANGED ID: %s GroupName: %s Name: %s confirmed: %d", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data(), sType.getConfirmed());
        } else if (event == SClient::ObjectEvent::Deleted) {
            // ESP_LOGI(TAG, "SPIT-Type Removed ID: %s GroupName: %s Name: %s\n", sType.getID().data(), sType.GroupName.get().data(), sType.Name.get().data());
        }
    }
}

// Called when the server has created, loaded or changed a SPITObject.
// A Remote SPITObject is used to remote control the SPITServer.
// May also occur when the server confirms a SPITObject created by the client, what the client should never do!!.
// false = server changed a existing SPITObject
// @param p_SPITType a reference to a copy of the associated SPITType instance.
// @param p_SPITObject a reference to a copy of the SPITObject instance.
void onSpitObject(SClient::ObjectEvent event, bool isRemote, const SType &sType, const SObject &sObject) {
    if (isRemote) {
        if (event == SClient::ObjectEvent::Created) {
            // ESP_LOGI(TAG, "NEW SPIT-REMOTE-Object ID: %s Name: %s -> SPITType: %s", sObject.getID().data(), sObject.Name.get().data(), sType.Name.get().data());
            // This is a remote SPITObject which can be used to remote control the server.
            // If you want you can list this for later use
        } else if (event == SClient::ObjectEvent::Changed) {
            // ESP_LOGI(TAG, "SPIT-REMOTE-Object CHANGED ID: %s Name: %s -> SPITType: %s", sObject.getID().data(), sObject.Name.get().data(), sType.Name.get().data());
        } else if (event == SClient::ObjectEvent::Deleted) {
            ESP_LOGD(TAG, "SPIT-REMOTE-Object Removed ID: %s Name: %s\n", sObject.getID().data(), sObject.Name.get().data());
            // This is a remote SPITObject
            // If you have listet this prior you should remove it from the list
        }
    } else {
        if (event == SClient::ObjectEvent::Created) {
            // ESP_LOGI(TAG, "NEW SPIT-Object ID: %s Name: %s -> SPITType: %s", sObject.getID().data(), sObject.Name.get().data(), sType.Name.get().data());
            // check your actions
            // Whenever you provide an action for this SPITObject take this over in your code.
            // call _SpitClient.setActionSPITObject(sObject.getID(), true);

            // for our little excample as described in loadClientProject:
            // We have only actions for SPITTypes - means every SPITObject with the associated "Actionx"-SPITTypes will trigger the action when it is played
            //-> no need to do something here, because setActionSPITType has been set prior and the SPITObject will automatically inherits this
            // SPITObjects with other SPITTypes asscciated will trigger no actions

        } else if (event == SClient::ObjectEvent::Changed) {
            // ESP_LOGI(TAG, "SPIT-Object CHANGED ID: %s Name: %s -> SPITType: %s", sObject.getID().data(), sObject.Name.get().data(), sType.Name.get().data());
        } else if (event == SClient::ObjectEvent::Deleted) {
            ESP_LOGD(TAG, "SPIT-Object Removed ID: %s Name: %s\n", sObject.getID().data(), sObject.Name.get().data());
            // Check your actions
            // take the removal of the SPITObject over in your code

            // CAUTION: Deleted SPITObjects can be added later again (perhaps per UNDO on the SPITServer)
            //-> don't remove your assigned action immediately - keep it to reassign it later
        }
    }
}

// SPITServer may use several methods for playing SPITObjects.
// e.g. liveSHOWsoftware has the timeline and jingles which plays objects, where the timeline the main player is.
// SPIT distinguishes between the different players. All eventPlay... functions contain the information which player plays the SPIT object.
void onPlay(string p_PlayerID, string p_PlayerName, char p_PlayerType, bool p_PlayerIsRunning, uint64_t p_TimeFrames) {
    ESP_LOGD(TAG, "eventPlay Player: %s Runs: %d Time: %lld", p_PlayerName.data(), p_PlayerIsRunning, p_TimeFrames);

    switch (p_PlayerType) {
    case SClient::PlayerType::PTYPE_MAIN:
        // p_FrameTimes contains the position inside the server's project, we can use it like a timecode
        // int intMilliseconds = (int)(((double)p_TimeFrames / (double)m_ServerFramesPerSecond) * 1000);
        break;
    case SClient::PlayerType::PTYPE_CONTINOUS:
        // The olayer is playing only single Object sequences sometime during the project
        break;
    case SClient::PlayerType::PTYPE_DISCRETE:
        // Only discrete values where submitted, e.g the fader position of remote faders.
        break;
    }
}

/**
 * Called when the SPITServer plays a SPITObject. For every played SPITObject one eventPlayObject is called.
 * You can decide here which action should be done or not.
 */
void onPlaySpitType(string p_PlayerID, string spitTypeId, bool p_PlayerIsRunning, bool p_Started, bool p_Ended, double p_Value) {
    // double doubleValue = ((double)p_PlayObject.getValue() / 1000000) * ((double)p_PlayObject.getValueFactor() / 1000000);
    ESP_LOGD(TAG, "eventPlayObject Player: %s is running: %d Object Started: %d Stopped: %d", p_PlayerID.data(), p_PlayerIsRunning, p_Started, p_Ended);
    // ESP_LOGD(TAG, "      SPITType: %s SPITObject: %s Position: %lld Value: %f\n", spitTypeId.data(), p_SPITObject.getName().data(), p_PlayObject.getFrameInside(), doubleValue);
    ESP_LOGD(TAG, "      SPITType: %s Value: %f\n", spitTypeId.data(), p_Value);

    if (!ProvidedSpitActions.contains(spitTypeId)) {
        ESP_LOGE(TAG, "SPIT ID %s is not accepted", spitTypeId.c_str());
        return;
    }
    if (p_Started == true) {
        auto command = ProvidedSpitActions[spitTypeId];
        // ESP_LOGI(TAG, "Player: %s is running: %s Object", p_PlayerID.data(), spitTypeId.c_str());
        commandQueue.enqueue(std::make_unique<MoveCommand>(command));
        Syslog::logv(Syslog::Severity::Informational, "Got SPIT command for move ot : r%d", command.pos);
    }
}

/**
 * Called when a remote SpitObject which value function is changed by the server.
 * This allows the Client to adjust its display for the remote command.
 * @param p_SPITType the assigned remote SPITType of p_SPITObject
 * @param p_SPITObject the remote SPITObject which is changed
 * @param p_FrameInsideObject can be discarded
 * @param p_Value the new value
 */
void onPlayRemoteObjectStatus(const SType &sType, const SObject &sObject, uint64_t frameInsideObject, int value) {
    ESP_EARLY_LOGD(TAG, "eventPlayRemoteObjectStatus RemoteSPITType: %s RemoteSPITObject: %s Position: %lld Value: %d", sType.Name.get().data(), sObject.Name.get().data(), frameInsideObject, value);
}

void SpitClientApp() {
    ESP_LOGI(TAG, "Starting SPIT task");

    auto &provided = SpitTypes.Provided;
    auto &expected = SpitTypes.Expected;
    std::vector<LocalSpitObj> ProvidedObj;
    ProvidedSpitActions[provided.startShuffle] = MoveCommand{.type = MoveType::Shuffle, .pos = 0};
    ProvidedObj.push_back(LocalSpitObj{.iD = provided.startShuffle, .groupName = provided.group, .name = provided.startShuffle});
    ExpectedObjects[expected.changingPos] = "";
    for (size_t i = 0; i < 6; i++) {
        ProvidedSpitActions[provided.moveToX[i]] = MoveCommand{.type = MoveType::StepTo, .pos = (uint8_t)(i + 1)};
        ProvidedObj.push_back(LocalSpitObj{.iD = provided.moveToX[i], .groupName = provided.group, .name = provided.moveToX[i]});
        ExpectedObjects[expected.inPosX[i]] = "";
    }

    auto ip = spit::Socket::getAdaptersInfo();
    spit::Socket socket(ip);
    SClient spitClient(ClientName, ProjectName, socket,
                       {
                           .onServerEvent = onServerEvent,
                           .onConnectionStatus = onConnectionStatus,
                           .onProjectUpdate = onProjectUpdate,
                           .onSpitType = onSpitType,
                           .onSpitObject = onSpitObject,
                           .onPlay = onPlay,
                           .onPlaySpitType = onPlaySpitType,
                           .onPlayRemoteObjectStatus = onPlayRemoteObjectStatus,
                           .onCheckSpitTypeVeto = onCheckSpitTypeVeto,
                           .onCheckSpitObjectVeto = onCheckSpitObjectVeto,
                       });

    for (auto &obj : ProvidedObj) {
        SType *ptrSPITType1Fix = spitClient.createTypeFixed(obj.iD, obj.groupName, obj.name, 0, 0);
        spitClient.setActionType(ptrSPITType1Fix->getID(), true); // should be executed whenever a SPITObject with this SPITType is played
    }
    spitClient.clientProjectLoaded();
    spitClient.startServerAutoDetect();

    spitProjectFinish.take();
    string serverProjectID = spitClient.getServerProjectID();
    string serverProjectName = spitClient.getClientProjectName();
    int serverFramesPerSecond = spitClient.getServerFramesPerSecond(); // set when the server reports his project, see eventProjectReport
    ESP_LOGI(TAG, "eventProjectReport ID: %s Name: %s FramesPerSecond: %d", serverProjectID.data(), serverProjectName.data(), serverFramesPerSecond);

    for (auto &&obj : ExpectedObjects) {
        if (obj.second == "") {
            ESP_LOGE(TAG, "No matching Remote ID for %s", obj.first.c_str());
        }
    }

    while (true) {
        auto res = responseQueue.dequeue();
        if (res->type == ResponseType::StartMoving) {
            spitClient.sendRemoteObject(ExpectedObjects[expected.changingPos]);
        } else if (res->type == ResponseType::StepAt) {
            spitClient.sendRemoteObject(ExpectedObjects[expected.inPosX[res->pos - 1]]);
        }
    }
}

void MqttThread() {
    ESP_LOGI(TAG, "Starting MQTT task");

    auto &store = NvsApi::getInstance();
    auto broker = store.getValue(ConfigKeys.mqttBroker);
    if (broker != "") {
        ESP_LOGI(TAG, "Initializing MQTT");
        auto prefix = store.getValue(ConfigKeys.mqttPrefix);
        auto &client = MqttClient::init(broker, prefix);
        if (!client.isRunning()) {
            client.addSubscription(MqttTopics.moveTo, [](std::string d) { moveToSubs(d); });
            client.addSubscription(MqttTopics.startShuffle, [](std::string d) { startShuffle(d); });
            client.start();
        }

        while (true) {
            auto res = responseQueue.dequeue();
            if (res->type == ResponseType::StartMoving) {
                client.publish(MqttTopics.changingPosition, "");
            } else if (res->type == ResponseType::StepAt) {
                client.publish(MqttTopics.inPosition, std::to_string(res->pos));
            }
        }
    }
}

void app_main(void) {
    initialize_ethernet();
    NvsApi::init();
    static fos::Task lightingTask(LightingTask, "Lights", 0x8000uL);
    static fos::Task movementTask(MovementTask, "Motor", 0x8000uL, fos::Task::MAX_PRIORITY-4 );

    etherActive.take();
    fos::Task::delayMs(10000);
    ESP_LOGI(TAG, "Start net services");

    static int ipVersion = AF_INET;
    static fos::TaskT<int> telnetSocket(telnetSocketTask, ipVersion, "tcpServer", 4096);
    static fos::TaskT<int> dmxNode(dmxSocketTask, ipVersion, "dmxNode", 4096);
    static fos::Task spit(SpitClientApp, "SpitClient");
    // static fos::Task mqtt(MqttThread, "MqttEndpoint");
    // static Task otaUpdate(SystemFunctions::OtaTaskEntry, "otaTask", 8192);

    auto &store = NvsApi::getInstance();
    auto logger = store.getValue(ConfigKeys.syslogDest);
    if (logger != "") {
        Syslog::setupTask(IpAdr{logger, 0});
    }

    ESP_LOGI(TAG, "Configuration");
    ESP_LOGI(TAG, "%s: %s", ConfigKeys.syslogDest, store.getValue(ConfigKeys.syslogDest).c_str());
    ESP_LOGI(TAG, "%s: %s", ConfigKeys.mqttBroker, store.getValue(ConfigKeys.mqttBroker).c_str());
    ESP_LOGI(TAG, "%s: %s", ConfigKeys.mqttPrefix, store.getValue(ConfigKeys.mqttPrefix).c_str());
    ESP_LOGI(TAG, "%s: %s", ConfigKeys.spitServer, store.getValue(ConfigKeys.spitServer).c_str());

    while (true) {
        fos::Task::delayMs(5000);
        // ToDo send
        Syslog::logv(Syslog::Severity::Notice, "Min heap size: %u / FreeHeap %lu",
                     heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT),
                     esp_get_free_heap_size());
    }
}