/*
 * msp_485_android.c
 *
 *  Created on: 2025年12月1日
 *      Author: akeguo
 */
#include "robot_state.h"
#include "msp_485_android.h"
#include "msp_U7.h"
#include "bsp_Error_Detect.h"
void decode_android_485(uint8_t *buffer, uint16_t length);
void decode_android_PV(uint8_t *buffer, uint16_t length);
void android_485_loop(); //inqure data from the, in fact this is a modbus 03 function;
struct UARTHandler *android_handler;

DispacherController *androidr_dispacherController;
int android_slave_id = 0x40;
int time_to_adapt = 100;
int8_t android_slave_iv_start_holiding_register = 100;
int16_t android_slave_iv_holiding_register_num = 0; //这个数据要随时改变
//最多读取多少个字节
int16_t read_android_holidng_register_count = 20;
		//+ PV_struct_define_size / 2; //16个subs通道   1个PV数据长度，
uint16_t Decoded_Android_HoldingReg_Value[100]; //用来对Android的Sbus /PV /IV  的操作
uint16_t send_pv_android_holdingReg_Value[100]; // /PV /IV  的操作
void android_485_intialize(struct UARTHandler *Handler)
{
	android_handler = Handler;
	android_handler->UART_Decode = decode_android_485;

	androidr_dispacherController = Handler->dispacherController;
	androidr_dispacherController->Dispacher_Enable = 1;
	//不周期性发送
	androidr_dispacherController->Add_Dispatcher_List(
			androidr_dispacherController, android_485_loop);

	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
			"Android_485", 0, ComError_Android_485);
	LOG("msp_485_android_intialize");
}

void android_485_intialize_with_slaveID(struct UARTHandler *Handler,
		int slave_id)
{
	android_485_intialize(Handler);
	android_slave_id = slave_id;
}

void android_485_loop()
{
	//读取安卓数据
	MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount,
			android_slave_id, 0, read_android_holidng_register_count);
	android_handler->AddSendList(android_handler, android_handler->Tx_Buf,
			android_handler->TxCount, time_to_adapt, decode_android_485);

}
int PMK32Index = 0;

int received_android_counter = 0;
int received_counter_max = 10/2;// 每次读取多少次遥控器然后读取PV/写IV

int32_t *p_mk32_pointer;
//读取 的寄存器
void decode_android_485(uint8_t *buffer, uint16_t length)
{
//	uint8_t data1[length];
//	memcpy(data1, buffer, length);
//	if (length <= 5)
//	{
//		return;
//	}
	int decoded_result = MB_Decode_HoldingRegs(buffer, length,
			read_android_holidng_register_count,
			&Decoded_Android_HoldingReg_Value[0]);
	if (decoded_result == 1)
	{
		p_mk32_pointer = (int32_t*) P_U7;
		//Sbus 设定
		for (int PMK32Index = 0; PMK32Index < 18; PMK32Index++)
		{
			//此处必须加类型转换
			*p_mk32_pointer =
					(int16_t) Decoded_Android_HoldingReg_Value[PMK32Index];
			p_mk32_pointer++;
		}

		received_android_counter++;

		//读取遥控器
		MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 0, read_android_holidng_register_count);
		android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, time_to_adapt,
				decode_android_485);

		if (received_android_counter % received_counter_max != 0) return;
		switch (received_android_counter / received_counter_max % 2)
		{
			case 0:
			{
				//设定安卓数据
				pb_ostream_t IV_o_stream = pb_ostream_from_buffer(
						&send_pv_android_holdingReg_Value[1],
						sizeof(send_pv_android_holdingReg_Value) - 1);
				pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);

				android_slave_iv_holiding_register_num = (IV_o_stream.bytes_written + 1) / 2
						+ 1;
				send_pv_android_holdingReg_Value[0] = SWAP_ENDIAN_16(
						IV_o_stream.bytes_written);
				MB_WriteNumHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount,
						android_slave_id, android_slave_iv_start_holiding_register,
						android_slave_iv_holiding_register_num,
						send_pv_android_holdingReg_Value);
				android_handler->AddSendList(android_handler, android_handler->Tx_Buf,
						android_handler->TxCount, 150, NULL);
				received_android_counter = 0;
				break;
			}
			case 1:
			{ //读取安卓数据 03 PV
				MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 19,
				        (Decoded_Android_HoldingReg_Value[18] + 1) / 2);
				android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount,
				        time_to_adapt, decode_android_PV);

				break;
			}
		}
	} else
	{
		LOGFF(DL_ERROR, "Android_485 decoding failed");
	}
}
/*****/
void decode_android_PV(uint8_t *buffer, uint16_t length)
{
//	uint8_t data1[1000];
//	memcpy(data1, buffer, length);
	if (length <= 5)
	{
		return;
	}
	int decoded_result = MB_Decode_HoldingRegs(buffer, length, (Decoded_Android_HoldingReg_Value[18] + 1) / 2,
	        &Decoded_Android_HoldingReg_Value[19]);
	if (decoded_result == 1)
	{
		//PV解析
		pb_istream_t i_pv_stream =
		{ 0 };

		i_pv_stream = pb_istream_from_buffer(&Decoded_Android_HoldingReg_Value[19],
		        Decoded_Android_HoldingReg_Value[18]);
		int checkreturn = pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp);
		if (checkreturn == 1)
		{
			if (GV.PV.TimeStamp <= _decoded_PV_temp.TimeStamp)
			{
				GV.PV = _decoded_PV_temp;
			}

		}

		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1);

	}
	else
	{
		LOGFF(DL_ERROR, "Android_485 decoding failed");
	}
}