/*******************************************************************************
 * File Name         : BT.c
 * Description       :
 * Created on        : 2018Äê7ÔÂ23ÈÕ
 * Author            : ¶Å¼ü
 *******************************************************************************/

/*******************************************************************************
 *                              Include Files                                  *
 *******************************************************************************/
#include "stdio.h"
#include "stdarg.h"
#include "string.h"
#include "AppConfig.h"
#include "HIDO_VLQueue.h"
#include "HIDO_Input.h"
#include "HIDO_Timer.h"
#include "HIDO_Util.h"
#include "bluetooth.h"
#include "DBG.h"
#include "mainex.h"
#include "Uart.h"

/*******************************************************************************
 *                                  Macro                                      *
 *******************************************************************************/
// È«¾Ö״̬±êÖ¾


static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
HIDO_UINT8 uart6_dma_rxbuf[UART6_DMA_RX_BUF_SIZE] = {0};
HIDO_UINT8 uart6_dma_recv_end_flag = 0;
HIDO_UINT8 uart6_dma_recv_len = 0;

/*******************************************************************************
 *                             Local Variable                                  *
 *******************************************************************************/


/*******************************************************************************
 * Function Name     : DBG_Init
 * Description       : µ÷ÊÔ´òÓ¡³õʼ»¯
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê7ÔÂ23ÈÕ
 *******************************************************************************/
HIDO_VOID BT_Init(void)
{
    ST_UartInit stInit;

    memset(&stInit, 0, sizeof(stInit));
    stInit.m_eRxMode = UART_RX_MODE_DMA;
    stInit.m_eTxMode = UART_TX_MODE_DMA;
    stInit.m_pu8RxBuf = l_au8BTUartRxBuf;
    stInit.m_u32RxBufSize = BT_UART_RX_BUF_SIZE;
    stInit.m_pu8TxBuf = l_au8BTUartTxBuf;
    stInit.m_u32TxBufSize = BT_UART_TX_BUF_SIZE;
    stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
    Uart_Init(UART_ID_BT, &stInit);


}

/**
 * @brief Æô¶¯ UART6 ½ÓÊÕ£¨ÆôÓà IDLE ÖÐ¶Ï + DMA£©
 */
void UART6_StartReceive(void)
{
    // Çå³ý±ê־룬·ÀÖ¹ÉϵçÎó´¥·¢
    __HAL_UART_CLEAR_IDLEFLAG(&huart6);

    // ʹÄÜ IDLE ÖжÏ
    __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);

    // Æô¶¯ DMA ½ÓÊÕ£¨Ñ­»·Ä£Ê½£©
    HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE);
}

/**
 * @brief ·¢ËÍ×Ö·û´®
 */
void UART6_SendString(const char *str)
{
    HAL_UART_Transmit_DMA(&huart6, (uint8_t *)str, strlen(str));
}

/**
 * @brief ·¢ËÍÊý¾ÝÊý×é
 */
void UART6_SendArray(uint8_t *data, uint16_t len)
{
    HAL_UART_Transmit_DMA(&huart6, data, len);
}

void Joystick_Process(Joystick_t *joy)
{
    // ÌáÈ¡ y1 ¿ØÖÆÇ°½ø/ºóÍË
    int16_t motor_val = joy->y1;  // -100 ~ +100
    Set_Motor_PWM(motor_val);

    // ÌáÈ¡ x2 ¿ØÖÆתÏò
    int16_t steering_val = joy->x2;  // -100 ~ +100
    Set_Steering_PWM(steering_val);

}

// ʾÀýÊäÈë: "[joystick,-22,-2,0,0]"
void Parse_Joystick_Data(char *data)
{
    Joystick_t joy = {0};

    if (strstr(data, "joystick") == NULL) return;

    // Ìø¹ý "[joystick,"
    char *ptr = strstr(data, "joystick");

    if (!ptr) return;

    ptr += 10;  // Ìø¹ý "joystick,"

    // ½âÎöËĸöÕûÊý
    char *end;
    joy.x1 = strtol(ptr, &end, 10);

    if (end == ptr) return;

    ptr = end + 1;

    joy.y1 = strtol(ptr, &end, 10);

    if (end == ptr) return;

    ptr = end + 1;

    joy.x2 = strtol(ptr, &end, 10);

    if (end == ptr) return;

    ptr = end + 1;

    joy.y2 = strtol(ptr, &end, 10);

    // ´¦ÀíÊý¾Ý
    Joystick_Process(&joy);
}


/*******************************************************************************
 * Function Name     : BT_Init
 * Description       : µ÷ÊÔ´òÓ¡ÂÖѯ
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê7ÔÂ23ÈÕ
 *******************************************************************************/
HIDO_VOID BT_Poll(void)
{
        static HIDO_UINT8 l_uart6_dma_rxbuf[100];
    if (uart6_dma_recv_len > 0) //HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
    {
        if (uart6_dma_recv_end_flag == 1) //½ÓÊÕÍê³É±êÖ¾
        {
            HIDO_UtilSnprintf((HIDO_CHAR *)l_uart6_dma_rxbuf, sizeof(l_uart6_dma_rxbuf), "buff=%s\r\n", uart6_dma_rxbuf);
            Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_uart6_dma_rxbuf, strlen(l_uart6_dma_rxbuf));
            // ½âÎöÊý¾Ý
            Parse_Joystick_Data(uart6_dma_rxbuf);
        }

        uart6_dma_recv_len = 0;//Çå³ý¼ÆÊý
        uart6_dma_recv_end_flag = 0;//Çå³ý½ÓÊÕ½áÊø±ê־λ
        memset(uart6_dma_rxbuf, 0, UART6_DMA_RX_BUF_SIZE);
        __HAL_UART_CLEAR_IDLEFLAG(&huart6);
        HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); //ÖØдò¿ªDMA½ÓÊÕ
    }

}