/*
 * bsp_pv_setting.c
 *
 *  Created on: Jan 8, 2025
 *      Author: akeguo
 */
#include <bsp_client_setting.h>
#include "BHBF_ROBOT.h"
#include "bsp_decode_command.h"
#include "gpio.h"

#include "bsp_UART.h"
void UpdateIV_State();
void UpdateIV_PaintThickness();
void decode_received_data_from_client(uint8_t *buffer, uint16_t length);

struct UARTHandler *client_setting_Handler;  //相当于当前行及下一行这两个结构体与绑定的共享地址
DispacherController *client_setting_dispacher;
int LastCount;
uint16_t Send_State_Count = 0;
uint16_t Send_PaintThickness_Flag = 0;


void client_setting_intialize(struct UARTHandler *Handler)
{

	client_setting_Handler = Handler;
	client_setting_Handler->Wait_time = 30; //  最低不要低于4；

	client_setting_dispacher=Handler->dispacherController;
	client_setting_dispacher->Add_Dispatcher_List(client_setting_dispacher,UpdateIV_State);
	client_setting_dispacher->Add_Dispatcher_List(client_setting_dispacher,UpdateIV_PaintThickness);

	client_setting_dispacher->DispacherCallTime=1000;
	client_setting_dispacher->Dispacher_Enable = 1;
	LOG("client_setting_intialize");

	client_setting_Handler->UART_Decode = decode_received_data_from_client; //indicate that there is no need to listen

}


void UpdateIV_State()//往安卓发的
{
	Send_State_Count ++;

	client_setting_Handler->Tx_Buf[0] = 0x01;
	client_setting_Handler->Tx_Buf[1] = 0x03;
	client_setting_Handler->Tx_Buf[2] = 0x0C;

	client_setting_Handler->Tx_Buf[3] = (Send_State_Count>>8) &0xff;
	client_setting_Handler->Tx_Buf[4] = Send_State_Count & 0xff;


	client_setting_Handler->Tx_Buf[5] = ((ushort)GV.Robot_State>>8) &0xff;
	client_setting_Handler->Tx_Buf[6] = (ushort)GV.Robot_State & 0xff;

	client_setting_Handler->Tx_Buf[7] = ((ushort)abs(GV.LeftFrontMotor.Current)>>8) &0xff;
	client_setting_Handler->Tx_Buf[8] = (ushort)abs(GV.LeftFrontMotor.Current) & 0xff;

	client_setting_Handler->Tx_Buf[9] = ((ushort)abs(GV.RightFrontMotor.Current)>>8) &0xff;
	client_setting_Handler->Tx_Buf[10] = (ushort)abs(GV.RightFrontMotor.Current) & 0xff;

	client_setting_Handler->Tx_Buf[11] = ((ushort)GV.Robot_Speed_mpm>>8) &0xff;
	client_setting_Handler->Tx_Buf[12] = (ushort)GV.Robot_Speed_mpm & 0xff;

	client_setting_Handler->Tx_Buf[13] = ((ushort)GV.Robot_Angle.RF_Angle_Roll>>8) &0xff;
	client_setting_Handler->Tx_Buf[14] = (ushort)GV.Robot_Angle.RF_Angle_Roll & 0xff;

	client_setting_Handler->TxCount = 17;
	uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  15);

	client_setting_Handler->Tx_Buf[16] = (crc>>8) &0xff;
	client_setting_Handler->Tx_Buf[15] =  crc & 0xff;

	client_setting_Handler->UART_Tx(client_setting_Handler);

	if(Send_State_Count >= ((uint16_t)pow(2, 32)) - 1)
	{
		Send_State_Count = 0;
	}

}

void UpdateIV_PaintThickness()//往安卓发的
{

	if(GV.Robot_PaintThickness_Count <= LastCount + 1)
	{
		return;
	}

		client_setting_Handler->Tx_Buf[0] = 0x01;
		client_setting_Handler->Tx_Buf[1] = 0x03;
		client_setting_Handler->Tx_Buf[2] = 0x02;
		client_setting_Handler->TxCount = 7;
		client_setting_Handler->Tx_Buf[3] = (GV.Robot_PaintThickness>>8) &0xff;
		client_setting_Handler->Tx_Buf[4] = GV.Robot_PaintThickness & 0xff;

		uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  5);

		client_setting_Handler->Tx_Buf[6] = (crc>>8) &0xff;
		client_setting_Handler->Tx_Buf[5] =  crc & 0xff;

		client_setting_Handler->UART_Tx(client_setting_Handler);

		LastCount = GV.Robot_PaintThickness_Count;
}


void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
{
	uint8_t data[2000];
		memcpy(data,buffer,length);


}

//	client_setting_Handler->Tx_Buf[0]='1';
//	client_setting_Handler->Tx_Buf[1]=',';
//		//wh_LTE_7S0_Handler->Tx_Buf[2]='1';
//	client_setting_Handler->TxCount =  2;
//	client_setting_Handler->UART_Tx(client_setting_Handler);