/*
 * msp_Force_Sensor.c
 *
 *  Created on: Oct 8, 2024
 *      Author: akeguo
 */
#include "msp_PaintThickness.h"
#include "bsp_Error.pb.h"
#include "BHBF_ROBOT.h"
#include "stdint.h"

void decode_PaintThickness(uint8_t *buffer, uint16_t length);
void GF_PT_Inquiry();//inqure data from the, in fact this is a modbus 03 function;


int32_t* PaintThickness;
struct UARTHandler *PaintThickness_sensor;

DispacherController *PaintThickness_sensor_dispacherController;
void Paint_Thickness_intialize(struct UARTHandler *Handler)
{
	//uartHandler_intialize(&Force_sensor,Handler,10);
	PaintThickness_sensor = Handler;
	PaintThickness_sensor->UART_Decode=decode_PaintThickness;
	PaintThickness_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
	PaintThickness_sensor_dispacherController=Handler->dispacherController;
	PaintThickness_sensor_dispacherController->DispacherCallTime = 200;//10 是100ms 难道这个2ms的定时器是10ms的？
	LOG("angle_encoder_intialize");
	PaintThickness_sensor_dispacherController->Dispacher_Enable = 1;
		//log_info("angle_encoder_intialize");
	PaintThickness_sensor_dispacherController->Add_Dispatcher_List(PaintThickness_sensor_dispacherController,GF_PT_Inquiry);


	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",0,PaintThickness_sensor);
		//uartHandler->Insert_HardWare_Entry_UART
	 LOG("steering_engine_intialize");
}

uint8_t Inquiry_Order_PT[6]={0X2E, 0X64, 0X30, 0X3C, 0X3A, 0X3E};
void GF_PT_Inquiry()
{
	memcpy(&PaintThickness_sensor->Tx_Buf, &Inquiry_Order_PT, 6);
	PaintThickness_sensor->TxCount = 6;
	PaintThickness_sensor->UART_Tx(PaintThickness_sensor);//send the data from the modbus command;
	LOG("GF_PT_Inquiry Second Version");

}


void decode_PaintThickness(uint8_t *buffer, uint16_t length)
{
	//memcpy(data_PaintThickness,buffer,length);
	LOG("start decoding and the length is %d",length);
	/* 校验 */
	//;<:>
	uint8_t crc_check[4] = {';','<',':','>'};

	/* CRC 校验正确 */
	if (crc_check[3] == buffer[length - 1]
		&&  crc_check[2] == buffer[length - 2]
		&&  crc_check[1] == buffer[length - 3]
		&&  crc_check[0] == buffer[length - 4])
	{
		int startIndex=0;

		for(int j=5;j<=14;j++)
		{
			if(buffer[length-j] == ';' || buffer[length-j] == 'e')
			{
				startIndex=j;
				break;
			}
		}
		if(startIndex==0)return;

		char PaintThickness_in[startIndex-5];//应该不会超过10个
		memcpy(PaintThickness_in,&buffer[length-startIndex+1],startIndex-5);

		*PaintThickness = atof(PaintThickness_in) * 10;



		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",1);
		LOG("decode_PaintThickness  succeeded and the force is %d",*PaintThickness);

	}
	else
	{
		//Decode Error；
		//log_error("wire sensor decoding failed");
		LOGFF(DL_ERROR,"PaintThickness_sensor decoding failed");

	}

}