#include "main.h"
#include "app.h"
#include "flow.h"
#include "sys.h"
#include "delay.h"
#include "board.h"

extern __IO app_t app;
extern motor_t *motor;
uint8_t detect_result = ST_DEV_NORMAL;

static struct flow fl_adc_inspection;    // ADC
static struct flow fl_systom_inspection; // 系统
static struct flow idle_tm;              // 空闲任务

static uint8_t adc_inspection(struct flow *fl)
{
    FL_HEAD(fl);
    for (;;)
    {
        // 扭力
        app.adc.torsion_in13.original_value = get_sensor_adc(GET_TORSION_VALUE);
        app.adc.torsion_in13.calibration_value = torsion_detect();
        sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value);
        // 输入压力
        app.adc.ipressure_in7.original_value = get_sensor_adc(GET_INPUT_PRESS_VALUE);
        app.adc.ipressure_in7.calibration_value = pressure_detect(GET_INPUT_PRESS_VALUE);
        sensor_adc[GET_INPUT_PRESS_VALUE] = S2B_UINT16(app.adc.ipressure_in7.original_value);
        // 输出压力
        app.adc.opressure_in9.original_value = get_sensor_adc(GET_OUTPUT_PRESS_VALUE);
        app.adc.opressure_in9.calibration_value = pressure_detect(GET_OUTPUT_PRESS_VALUE);
        sensor_adc[GET_OUTPUT_PRESS_VALUE] = S2B_UINT16(app.adc.opressure_in9.original_value);
        // 输入流量
        app.adc.iflow_in8.original_value = get_sensor_adc(GET_INPUT_FLOW_VALUE);
        app.adc.iflow_in8.calibration_value = flow_detect(GET_INPUT_FLOW_VALUE);
        sensor_adc[GET_INPUT_FLOW_VALUE] = S2B_UINT16(app.adc.iflow_in8.original_value);
        // 输出流量
        app.adc.oflow_in10.original_value = get_sensor_adc(GET_OUTPUT_FLOW_VALUE);
        app.adc.oflow_in10.calibration_value = flow_detect(GET_OUTPUT_FLOW_VALUE);
        sensor_adc[GET_OUTPUT_FLOW_VALUE] = S2B_UINT16(app.adc.oflow_in10.original_value);

        FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
    }
    FL_TAIL(fl);
}

static uint8_t systom_inspection(struct flow *fl)
{
    FL_HEAD(fl);
    for (;;)
    {
        host_rx_msg_deal();
        FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */
    }
    FL_TAIL(fl);
}

static uint8_t idle_inspection(struct flow *fl)
{
    FL_HEAD(fl);
    for (;;)
    {
        test_process();
        cpu_percent = scheduler_time_occupancy_get(1000);
        FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC);
    }
    FL_TAIL(fl);
}

void flow_start(void)
{
    adc_inspection(&fl_adc_inspection);       // adc检测
    systom_inspection(&fl_systom_inspection); // 系统检测
    idle_inspection(&idle_tm);                // 空闲任务用来计算CPU占用率
}

void flow_init(void)
{
    FL_INIT(&fl_adc_inspection);
    FL_INIT(&fl_systom_inspection);
    FL_INIT(&idle_tm);
}