/*
 * bsp_desulfurizer_handler.c
 *
 *  Created on: Jul 29, 2024
 *      Author: akeguo
 */
#include "msp_WH_LTE_7S0.h"
#include "msp_Angle_Encoder_YL159.h"
#include "pb_decode.h"
#include "pb_encode.h"
#include "bsp_include.h"
#include "pb.h"
#include "bsp_Desulfurizer.pb.h"
#include "bsp_Cmd.pb.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "bsp_Log.h"
#include "msp_Steering_Engine.h"
#include "BHBF_ROBOT.h"
#include "bsp_cpu_flash.h"
#include <bsp_qspi_w25q128.h>
#include <bsp_UpperComputer_Handler.h>

#include "bsp_decode_command.h"
void decode_command_from_computer(uint8_t *buffer, uint16_t length);
struct UARTHandler *desulfurizer_message_UART_Handler;

void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler)
{
	//LOG("desulfurizer_message_UART_Handler_intialize");
	desulfurizer_message_UART_Handler = Handler;
	desulfurizer_message_UART_Handler->UART_Decode =
			decode_command_from_computer; //indicate that there is no need to listen
	//desulfurizer_message_UART_Handler->DispacherCallPeriod=200;

	//desulfurizer_message_UART_Handler->Add_Dispatcher_List(desulfurizer_message_UART_Handler,steering_set_angle);
	}




void send_data_to_upper_computer(double Angle, double WireLength,
		double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler)
{
	LOG("send collected data to computer");
	DesulfurizerMessage _desulfurizer = DesulfurizerMessage_init_default;
	pb_ostream_t output_stream =
	{ 0 };

	_desulfurizer.Angle = Angle;
	_desulfurizer.WireLength = WireLength;
	_desulfurizer.Thickness = Thickness;
	_desulfurizer.IsFittingPoint = IsFittingPoint;
	char buf[1024];
	output_stream = pb_ostream_from_buffer(buf, sizeof(buf));
	pb_encode(&output_stream, DesulfurizerMessage_fields, &_desulfurizer); //encode to buffer

	Cmd send_Cmd = Cmd_init_default;

	//将数据拷贝到Command中
	send_Cmd.CommadNum = 5;
	send_Cmd.Buff_Data_Length = output_stream.bytes_written;
	//拷贝数据到send_Cmd.Buff_Data中
	memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
	pb_ostream_t Cmd_out_stream =
	{ 0 };

	if(isMqtt==1)
	{
		Cmd_out_stream = pb_ostream_from_buffer(
				&send_UART_Handler->Tx_Buf[2],
							sizeof(desulfurizer_message_UART_Handler->Tx_Buf)-2);
					pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer
					send_UART_Handler->Tx_Buf[0]='3';
					send_UART_Handler->Tx_Buf[1]=',';
					send_UART_Handler->TxCount = Cmd_out_stream.bytes_written+2;
					send_UART_Handler->UART_Tx(
							send_UART_Handler);
	}
	else
	{
		Cmd_out_stream = pb_ostream_from_buffer(
				send_UART_Handler->Tx_Buf,
					sizeof(send_UART_Handler->Tx_Buf));
			pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer

			send_UART_Handler->TxCount = Cmd_out_stream.bytes_written;
			send_UART_Handler->UART_Tx(
					send_UART_Handler);
	}

}





void decode_command_from_computer(uint8_t *buffer, uint16_t length)
{

	if(*buffer==0x55 && *(buffer+1)==0x55 && length>=3)
	{
		 decode_command_and_feedback(buffer+2,  length-2, 0,
				 desulfurizer_message_UART_Handler);//0代表非mqtt
	}

}