/*
 * wire_sensor.c
 *
 *  Created on: Jul 16, 2024
 *      Author: akeguo
 */


#include <bsp_Log.h>
#include "msp_wire_sensor.h"
#include "BHBF_ROBOT.h"
//MB_REG_DATA wire_sensor_mb_reg_value;  10H的时候用
struct UARTHandler* wire_sensor_UART_Handler;
DispacherController* wire_sensor_dispacher;
int32_t* Desulfurizer_Wire_Length;
int32_t *Desulfurizer_Thickness;


void decode_Length(uint8_t *buffer, uint16_t length)
{
	/* CRC 校验 */
	uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
	/* CRC 校验正确 */
	if (crc_check == MB_CRC16(buffer, length - 2))
	{

		*Desulfurizer_Wire_Length = buffer[3] << 8 | buffer[4] ;

		//log_info("wire sensor decoding succeeded, and the length is %d",wire_length);
		LOG("wire sensor decoding succeeded, and the length is %d",*Desulfurizer_Wire_Length);
		//wire_sensor_UART_Handler->Set_PCOMHardWare(wire_sensor_UART_Handler,"wire_sensor",1);
		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"wire_sensor",1);
	}
	else
	{
		//Decode Error；
		//log_error("wire sensor decoding failed");
		LOGFF(DL_ERROR,"wire sensor decoding failed");
		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"wire_sensor",1);

	}

}

void wire_sensor_intialize(struct UARTHandler* Handler)
{

	wire_sensor_UART_Handler = Handler;
	wire_sensor_UART_Handler->Wait_time = 10; //等待10ms 最低不要低于4；

	wire_sensor_dispacher=Handler->dispacherController;
	wire_sensor_dispacher->Add_Dispatcher_List(wire_sensor_dispacher,read_wire_sensor_length);


	 HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"wire_sensor",0,wire_sensor);

	LOG("wire_sensor_intialize");
	//log_info("wire_sensor_intialize");
}


void read_wire_sensor_length()
{
	//LOG("read_wire_sensor_length");
	LOG("read_wire_sensor_length");
	wire_sensor_UART_Handler->UART_Decode = decode_Length;
		MB_ReadHoldingReg(&wire_sensor_UART_Handler->Tx_Buf,
				&wire_sensor_UART_Handler->TxCount, 2, 0, 2); //read from the data;
		wire_sensor_UART_Handler->UART_Tx(wire_sensor_UART_Handler);

}