#include "dataParsing.h"
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
#include "my_ringbuff.h"
#include "string.h"
#include "stdio.h"
#include "jz_upgrade.h"
#include "my_typedef.h"


#define UART_RECIVE_BUFF_MAX	(1024*5)

#define LENGTH_BIT_H	3
#define LENGTH_BIT_L	4
#define ANSWER_BIT		5
#define FUNC_BIT_1		7
#define FUNC_BIT_2		8
#define DATA_BIT 		9


osThreadId_t ParsingTaskHandle;
const osThreadAttr_t ParsingTask_attributes = {
  .name = "ParsingTask",
  .stack_size = 1024,
  .priority = (osPriority_t) osPriorityNormal,
};

ringBuf_t* Uart1RingBufHandle;

s_getFrame FrameStru = {0};


/********************** function **********************/
static void DataParsingTask(void *argument);

static int8_t FrameParsing(uint8_t* frame, uint16_t len);



//创建数据处理任务
int8_t Create_Data_Parsing(void)
{
	//
	UpgradeTest_Init();
	
	//初始化队列
	Uart1RingBufHandle = ringBufInit(Uart1RingBufHandle,UART_RECIVE_BUFF_MAX);
	
//	SEGGER_RTT_WriteString(0,"come data parsing\r\n");
	
//	printf("come data parsing\r\n");
	
	//创建缓存数据解析任务
	ParsingTaskHandle = osThreadNew(DataParsingTask, NULL, &ParsingTask_attributes);
	
	
//	printf("%d  %d\r\n",FrameStru.flag,FrameStru.count);
	
	return 0;
}




//数据解析 (缓存数据提取数据帧)
static void DataParsingTask(void *argument)
{
	int16_t getLen = 0;
	uint16_t readLen = 1;		//开始每次读一个字节,确定长度位之后再改变
	uint16_t dataLen = 0;
	char byte[512] = {0};
	
	uint32_t frameHead = 0x5a5a77;
	
	while(1)
	{
		if(FrameStru.flag==1)
			continue;
		
		memset(byte,0x00,sizeof(byte));
		
		//读缓存队列数据到 byte,返回实际读取的数据长度
		getLen = ringBufRead(Uart1RingBufHandle,byte,readLen);
		
		//缓存队列存在数据
		if(getLen>0)
		{
//			printf("come\r\n");
			//数据转存
			memcpy(FrameStru.buff+FrameStru.count, byte, getLen);		
			FrameStru.count += getLen;		
			
			if(FrameStru.count<=5)
			{
				//帧头判断
				if(FrameStru.count==3)
				{
					if((frameHead!=(FrameStru.buff[0]<<16)+(FrameStru.buff[1]<<8)+FrameStru.buff[2]))
					{
						memcpy(&FrameStru.buff[0],&FrameStru.buff[1],2);
						FrameStru.count--;
						continue;
					}
				}
				
				//帧长度判断
				if(FrameStru.count==5)
				{
					dataLen = FrameStru.buff[3]*256+FrameStru.buff[4];
					if(readLen>512)
						goto errorloop;
				}				
			}
			else
			{
				readLen = dataLen - getLen - 5;
				if(readLen<1)
					readLen = 1;
				
				if(FrameStru.count >= dataLen)
				{
					if(FrameStru.buff[dataLen-2]==0x00 && FrameStru.buff[dataLen-1]==0x23)
					{
//						FrameStru.flag = 1;		//接收满一帧标志
						FrameParsing(FrameStru.buff,FrameStru.count);
						
//						frameCount++;
						
//						printf("a frame\r\n");
						
						goto errorloop;
						
					}
					else 
						goto errorloop;
				}
			}
		}
		continue;
errorloop:
			readLen = 1;
			getLen = 0;
			FrameStru.count= 0;
			memset(FrameStru.buff,0x00,sizeof(FrameStru.buff));
			FrameStru.flag = 0;
	}
}



//帧解析(帧实现)
static int8_t FrameParsing(uint8_t* frame, uint16_t len)
{
	uint8_t diviceName = DEVICE_NAME;
	uint8_t result = 0;
	
	//连接帧
	uint8_t connectBuff[] = {0x5a,0x5a,0x77,0x00,0x0c,0x01,0x00,0x50,0x51,0x00,0x00,0x23};
	uint8_t versionBuff[] = {0x5a,0x5a,0x77,0x00,0x0c,0x01,0x00,0x53,0xf1,0x00,0x00,0x23};
	
	if(frame[FUNC_BIT_1]==0XA1)
		Upgrade_Manager(frame,len);
	
	else
	{
		if(frame[0]==0x5a)
		{
			//连接帧
			if(memcmp(connectBuff,frame,12)==0&&frame[ANSWER_BIT]==0x01)
			{	
				Make5BFrame_Test(0x50,0x51,&diviceName,1);
			}
			//版本查询
			else if(memcmp(versionBuff,frame,12)==0&&frame[ANSWER_BIT]==0x01)
			{
				Make5BFrame_Test(0x53,0xf1,VersionNum,sizeof(VersionNum));
			}
		}
	}
	
	return 0;
}



int16_t point_2_vel_1(uint8_t high, uint8_t low)
{
	int16_t ret = 0;
	int16_t temp = 0;
	
	temp = high*256 + low;
	
//	printf("%d\r\n",temp);
//	LL_USART_ClearFlag_ORE(USART2);
	
	ret = 2048 - (temp*2048)/32768;
	
//	printf("%d\r\n",(high>>5)&0x01);
	
	return ret;
}



int16_t point_2_vel(uint8_t high, uint8_t low)
{
	int16_t ret = 0;
	int16_t temp = 0;
	
	temp = high*256 + low;
	
//	printf("%d\r\n",temp);
//	LL_USART_ClearFlag_ORE(USART2);
	
	ret = 2048 - (temp*2048)/32768;
	
//	printf("%d\r\n",(high>>5)&0x01);
	
	return ret;
}