/*
 * @Author: shenghao.xu
 * @Date: 2023-04-13 22:39:28
 * @LastEditors: shenghao.xu
 * @LastEditTime: 2023-04-24 12:34:05
 * @Description: HL-G103-S-J
 * email:545403892@qq.com
 * Copyright (c) 2023 by shenghao.xu, All Rights Reserved.
 */

#include <stdio.h>
#include "laser.h"
extern size_t strlen(const char *);
extern uart_t *uarts[UART_NUM_MAX];

const char FRAME_HEAD_RSP = '$';
const char FRAME_TAIL = '\r';

const char FRAME_HEAD[] = "%01#";
const char FRAME_TRUE[] = "+00001";
const char FRAME_FALSE[] = "+00000";
const char FRAME_BCC[] = "**";
const char REQ_DEVICE_ONLINE[] = "WCSR03001";
const char REQ_OPEN_STATUS[] = "RLR";       // 激光开启状态查询
const char REQ_OPEN_STATUS_WRITE[] = "WLR"; // 激光开启状态设置
const char REQ_DISTANCE_READ[] = "RMD";     // 测定值读出
const char REQ_ZERO_STATUS[] = "RZS";       // 调零状态查询
const char REQ_ZERO_STATUS_WRITE[] = "WZS"; // 调零状态设置

static uart_t *handle;
static char request_buf[RS485_REC_LEN];
static uint8_t uart_buf[RS485_REC_LEN];
static uint8_t *response_ptr;
static uint8_t response_ptr_offset = 0;
laser_t laser_handle;

static void laser_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len);

static void laser_send(uint8_t *data, uint8_t length)
{
    laser_handle.send_data_cb(RS485_PORT, data, length);
}

// 是否在线
static void command_device_connect_req(void)
{
    snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DEVICE_ONLINE, FRAME_BCC, FRAME_TAIL);

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

// 激光开启状态查询
static void command_open_status_req(void)
{
    snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS, FRAME_BCC, FRAME_TAIL);

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

// 激光开启状态设置
static void command_open_status_write_req(BOOL open)
{
    if (open)
    {
        snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
    }
    else
    {
        snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
    }

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

// 测定值读出
static void command_distance_read_req(void)
{
    snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DISTANCE_READ, FRAME_BCC, FRAME_TAIL);

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

// 调零状态查询
static void command_zero_status_req(void)
{
    snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS, FRAME_BCC, FRAME_TAIL);

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

// 调零状态开启
static void command_zero_status_write_req(BOOL open)
{
    if (open)
    {
        snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
    }
    else
    {
        snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
    }

    laser_send((uint8_t *)request_buf, strlen(request_buf));
}

static void command_zero_status_close_req(void)
{
    command_zero_status_write_req(FALSE);
}

static void command_zero_status_open_req(void)
{
    command_zero_status_write_req(TRUE);
}

// 处理数据
static void laser_data_process(uint8_t *data, uint8_t length)
{
    char cmd[3] = {0};
    // 向右偏移4个位置获取指令部分
    response_ptr_offset = 0;
    response_ptr = data;
    response_ptr_offset += 4;
    if (!laser_handle.connect)
    {
        osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 2);
        response_ptr_offset += 2;
    }
    else
    {
        osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 3);
        response_ptr_offset += 3;
    }

    cmd_parsing(cmd);
}

static void command_device_connect_rsp(void)
{
    laser_handle.connect = TRUE;
    if (laser_handle.state != LASER_READY)
    {
        laser_handle.state = LASER_CONNECT;
    }
}

static void command_open_status_rsp(void)
{
    uint8_t status[5] = {0};
    response_ptr_offset++; // 跳过符号
    osel_memcpy(status, response_ptr + response_ptr_offset, 5);
    const char *cs = FRAME_TRUE;
    if (IsEqual(status, (cs + 1), 5))
    {
        laser_handle.open_status = TRUE;
        if (laser_handle.state != LASER_READY)
        {
            laser_handle.state = LASER_OPEN_STATUS;
        }
    }
    else
    {
        laser_handle.open_status = FALSE;
    }

#if STATUS_DEFAULT == 1
    if (laser_handle.state == LASER_CONNECT)
    {
        if (!laser_handle.open_status)
        {
            command_open_status_write_req(TRUE);
        }
    }

#endif
}

static void command_open_status_write_rsp(void)
{
}

#define PRECISION 10000 // 精度，即小数点后的位数
static float32 to_float(uint8_t *arr)
{
    int num = arr[0] * 1000000 + arr[1] * 100000 + arr[2] * 10000 + arr[3] * 1000 + arr[4] * 100 + arr[5] * 10 + arr[6]; // 数字部分的值
    float32 result = (float32)num / PRECISION;                                                                           // 将数字部分和小数部分合并成浮点数

    return result;
}
static void command_distance_read_rsp(void)
{
    uint8_t distance[10] = {0};
    float32 f = 0;
    osel_memcpy(distance, response_ptr + response_ptr_offset, 10);
    for (uint8_t i = 1; i <= 7; i++)
    {
        CHAR_TO_NUM(distance[i], distance[i]);
    }
    f = to_float(&distance[1]);
    if (distance[0] == '-')
    {
        f = -f;
    }

    if (laser_handle.state != LASER_READY)
    {
        laser_handle.state = LASER_DISTANCE;
    }
    laser_handle.distance = f * 1000;
}

static void command_zero_status_rsp(void)
{
    uint8_t status[5] = {0};
    response_ptr_offset++; // 跳过符号
    osel_memcpy(status, response_ptr + response_ptr_offset, 5);
    const char *cs = FRAME_TRUE;
    if (IsEqual(status, (cs + 1), 5))
    {
        laser_handle.zero_status = TRUE;
    }
    else
    {
        laser_handle.zero_status = FALSE;
    }
}

static void command_zero_status_write_rsp(void)
{
#if STATUS_DEFAULT == 1
    if (laser_handle.state == LASER_OPEN_STATUS)
    {
        laser_handle.zero_status = FALSE;
        laser_handle.state = LASER_ZERO_STATUS_CLOSE;
    }
    else if (laser_handle.state == LASER_ZERO_STATUS_CLOSE)
    {
        laser_handle.zero_status = TRUE;
        laser_handle.state = LASER_ZERO_STATUS_OPEN;
    }
    else
    {
        laser_handle.zero_status = FALSE;
        laser_handle.state = LASER_CONNECT;
    }

#endif
}

static void _laser_ready(void)
{
    laser_handle.state = LASER_READY;
}

REGISTER_CMD(WC, command_device_connect_rsp, "");
REGISTER_CMD(RLR, command_open_status_rsp, "");
REGISTER_CMD(WLR, command_open_status_write_rsp, "");
REGISTER_CMD(RMD, command_distance_read_rsp, "");
REGISTER_CMD(RZS, command_zero_status_rsp, "");
REGISTER_CMD(WZS, command_zero_status_write_rsp, "");

laser_event_t laser_event[] = {
    {LASER_IDEL, command_device_connect_req},
    {LASER_CONNECT, command_open_status_req},
    {LASER_OPEN_STATUS, command_zero_status_close_req},
    {LASER_ZERO_STATUS_CLOSE, command_zero_status_open_req},
    {LASER_ZERO_STATUS_OPEN, command_distance_read_req},
    {LASER_DISTANCE, _laser_ready},
};

static void uart5_init(void)
{
    if (uarts[RS485_PORT] == NULL)
    {
        uarts[RS485_PORT] = uart_create(USART5, FALSE, 1, laser_rx_cb, FALSE, 0, NULL);
        uarts[RS485_PORT]->uart_index = RS485_PORT;
        uart_recv_en(uarts[RS485_PORT]);
    }
}

void laser_init(send_data_cb_t cb)
{
    cmd_init(); /* 命令初始化 */
    uart5_init();
    handle = uarts[RS485_PORT];
    DBG_ASSERT(handle != NULL __DBG_LINE);
    GPIO_SET(RS485_EN3_GPIO_Port, RS485_EN3_Pin); // 485使能

    osel_memset((uint8_t *)&laser_handle, 0, sizeof(laser_t));
    laser_handle.state = LASER_IDEL;
    laser_handle.send_data_cb = cb;
    laser_handle.command_device_connect_req = command_device_connect_req;
    laser_handle.command_open_status_req = command_open_status_req;
    laser_handle.command_open_status_write_req = command_open_status_write_req;
    laser_handle.command_distance_read_req = command_distance_read_req;
    laser_handle.command_zero_status_req = command_zero_status_req;
    laser_handle.command_zero_status_write_req = command_zero_status_write_req;
}

// 串口接收中断回调函数，激光
static void laser_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len)
{
    if (data[0] == '\r')
    {
        if (uart_buf[0] == 0x25 && uart_buf[3] == FRAME_HEAD_RSP) // '%' is the start of the data
        {
            laser_data_process(uart_buf, handle->rx_sta & 0X3FFF);
            handle->rx_sta = 0;
        }
        else
        {
            handle->rx_sta = 0;
        }
    }
    else
    {
        uart_buf[handle->rx_sta & 0X3FFF] = data[0];
        handle->rx_sta++;
        if (handle->rx_sta > (RS485_REC_LEN - 1))
        {
            handle->rx_sta = 0;
        }
    }
}