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115 lines
3.2 KiB
115 lines
3.2 KiB
3 weeks ago
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/*
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* bsp_desulfurizer_handler.c
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*
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* Created on: Jul 29, 2024
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* Author: akeguo
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*/
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#include "msp_WH_LTE_7S0.h"
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#include "pb_decode.h"
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#include "pb_encode.h"
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#include "bsp_include.h"
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#include "pb.h"
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#include "bsp_Cmd.pb.h"
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include "BHBF_ROBOT.h"
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#include "bsp_cpu_flash.h"
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#include <bsp_qspi_w25q128.h>
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#include <bsp_UpperComputer_Handler.h>
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#include "bsp_decode_command.h"
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void decode_command_from_computer(uint8_t *buffer, uint16_t length);
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struct UARTHandler *desulfurizer_message_UART_Handler;
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void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler)
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{
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//LOG("desulfurizer_message_UART_Handler_intialize");
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desulfurizer_message_UART_Handler = Handler;
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desulfurizer_message_UART_Handler->dispacherController->Dispacher_Enable=0;//不周期性发送
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desulfurizer_message_UART_Handler->Wait_time=30;
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desulfurizer_message_UART_Handler->UART_Decode =
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decode_command_from_computer; //indicate that there is no need to listen
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//desulfurizer_message_UART_Handler->DispacherCallPeriod=200;
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//desulfurizer_message_UART_Handler->Add_Dispatcher_List(desulfurizer_message_UART_Handler,steering_set_angle);
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}
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void send_data_to_upper_computer(double Angle, double WireLength,
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double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler)
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{
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// LOG("send collected data to computer");
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// DesulfurizerMessage _desulfurizer = DesulfurizerMessage_init_default;
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// pb_ostream_t output_stream =
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// { 0 };
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//
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// _desulfurizer.Angle = Angle;
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// _desulfurizer.WireLength = WireLength;
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// _desulfurizer.Thickness = Thickness;
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// _desulfurizer.IsFittingPoint = IsFittingPoint;
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// char buf[1024];
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// output_stream = pb_ostream_from_buffer(buf, sizeof(buf));
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// pb_encode(&output_stream, DesulfurizerMessage_fields, &_desulfurizer); //encode to buffer
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// Cmd send_Cmd = Cmd_init_default;
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//
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// //将数据拷贝到Command中
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// send_Cmd.CommadNum = 5;
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// send_Cmd.Buff_Data_Length = output_stream.bytes_written;
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// //拷贝数据到send_Cmd.Buff_Data中
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// memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
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// pb_ostream_t Cmd_out_stream =
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// { 0 };
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//
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// if(isMqtt==1)
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// {
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// Cmd_out_stream = pb_ostream_from_buffer(
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// &send_UART_Handler->Tx_Buf[2],
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// sizeof(desulfurizer_message_UART_Handler->Tx_Buf)-2);
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// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer
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// send_UART_Handler->Tx_Buf[0]='3';
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// send_UART_Handler->Tx_Buf[1]=',';
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// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written+2;
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// send_UART_Handler->UART_Tx(
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// send_UART_Handler);
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// }
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// else
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// {
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// Cmd_out_stream = pb_ostream_from_buffer(
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// send_UART_Handler->Tx_Buf,
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// sizeof(send_UART_Handler->Tx_Buf));
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// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer
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//
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// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written;
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// send_UART_Handler->UART_Tx(
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// send_UART_Handler);
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// }
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}
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void decode_command_from_computer(uint8_t *buffer, uint16_t length)
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{
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if(*buffer==0x55 && *(buffer+1)==0x55 && length>=3)
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{
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decode_command_and_feedback(buffer+2, length-2, 0,
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desulfurizer_message_UART_Handler);//0代表非mqtt
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}
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}
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