/*
 * msp_T_F4.c
 *
 *  Created on: Jun 18, 2025
 *      Author: akeguo
 */
#include "msp_T_F4.h"
#include "BHBF_ROBOT.h"
#include "string.h"

char Is_T_F4_All_Button_Reset = 0;
void read_T_F4_Data(void);
void Write_T_F4_Data(void);
void decode_T_F4(uint8_t *buffer, uint16_t length);
DispacherController *T_F4_dispacherController;

T_F4_Value Current_T_F4_Value;
T_F4_Value_2 Current_T_F4_Value_2;
struct UARTHandler *T_F4_Remote_Controller_UART_Handler;

void T_F4_Remote_Controller_intialize(struct UARTHandler *Handler)
{

	T_F4_Remote_Controller_UART_Handler = Handler;
	T_F4_Remote_Controller_UART_Handler->Wait_time = 20; //等待10ms 最低不要低于4；
	T_F4_dispacherController = Handler->dispacherController;
	T_F4_dispacherController->DispacherCallTime = 200;
	T_F4_dispacherController->Dispacher_Enable = 1;
	T_F4_dispacherController->Add_Dispatcher_List(T_F4_dispacherController,
	        read_T_F4_Data);
	T_F4_dispacherController->Add_Dispatcher_List(T_F4_dispacherController,
			Write_T_F4_Data);

//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
//	        "T_F4_Remote", 0, ComError_T_F4_Remote);
	LOG(DL_ERROR, "angle encoder decoding failed");

}

uint8_t Write_T_F4[10];
uint16_t Data[5];
uint8_t Flag;
void read_T_F4_Data(void)
{

	LOGFF(DL_ERROR, "read data from DeChi");

	T_F4_Remote_Controller_UART_Handler->UART_Decode = decode_T_F4;

	MB_ReadInputReg(&T_F4_Remote_Controller_UART_Handler->Tx_Buf,
			&T_F4_Remote_Controller_UART_Handler->TxCount, 1, 0, 6); //addr 3  reg 0 读取6 个
	T_F4_Remote_Controller_UART_Handler->UART_Tx(
			T_F4_Remote_Controller_UART_Handler);
}

void Write_T_F4_Data(void)
{

	Data[0] = GV.Left_Compensation * 100;
	Data[1] = GV.Right_Compensation * 100;
	Data[2] =  abs(GV.Robot_Angle.RF_Angle_Roll);
	Data[3] = GV.Robot_Speed_mpm * 100;
	Data[4] =  abs(GV.Robot_PaintThickness);
	for (int i = 0; i < 5; i++)
	{
		Write_T_F4[2*i] = ((Data[i] / 256));//高位
		Write_T_F4[2*i+1] = ((Data[i] % 256));//低维
	}
	T_F4_Remote_Controller_UART_Handler->UART_Decode = NULL;

	MB_WriteNumHoldingReg(&T_F4_Remote_Controller_UART_Handler->Tx_Buf,
		   &T_F4_Remote_Controller_UART_Handler->TxCount, 1, 5, 5, &Write_T_F4);


	T_F4_Remote_Controller_UART_Handler->UART_Tx(
		T_F4_Remote_Controller_UART_Handler);
}





uint16_t Decoded_Reg_Value[6];
void decode_T_F4(uint8_t *buffer, uint16_t length)
{
	uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
	/* CRC 校验正确 */
	if (buffer[0] == 0x01 && buffer[1] == 0x04 && crc_check == MB_CRC16(buffer, length - 2))
	{
		memcpy(&Current_T_F4_Value, &buffer[3], 6 * 2);

		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
		        "T_F4_Remote", 1);
	}
	else
	{
		LOGFF(DL_ERROR, "DeChi decoding failed");

	}

}