/*******************************************************************************
 * File Name         : APL.c
 * Description       :
 * Created on        : 2018Äê5ÔÂ8ÈÕ
 * Author            : ¶Å¼ü
 *******************************************************************************/

/*******************************************************************************
 *                              Include Files                                  *
 *******************************************************************************/
#include "AppConfig.h"
#include "string.h"
#include "stm32l0xx_hal.h"
#include "HIDO_Timer.h"
#include "HIDO_ATLite.h"
#include "HIDO_Input.h"
#include "Uart.h"
#include "Shell.h"
#include "Uart.h"
#include "Led.h"
#include "Reboot.h"
#include "Beep.h"
#include "Key.h"
#include "ADC.h"
#include "Lis3dhApp.h"
#include "Power.h"
#include "HIDO_Debug.h"
#include "GPS.h"
#include "Lora.h"
#include "main.h"
#include "RTC.h"
#include "GPIO.h"
#include "DBG.h"
#include "lis3dh_driver.h"
#include "WS2812.h"
/*******************************************************************************
 *                                  Macro                                      *
 *******************************************************************************/

/*******************************************************************************
 *                             Type Definition                                 *
 *******************************************************************************/

/*******************************************************************************
 *                             Local Variable                                  *
 *******************************************************************************/
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
uint8_t bat_percent=0,g_start_send_flag;
extern u8 motor_state;
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
float motor_keeptime;
uint8_t imu_enable,motor_enable;
u16 current_slotnum;
extern int32_t offsettimeus;
//#define FIXSLOT
#define FIXSLOTPOS  4
#define CMD_NUM 12   
u16 slotpos_intoatl;
uint16_t bigslot_num;
float motor_ontime=0;
uint8_t userkey_state = 0;
extern u8 active_flag;
extern uint32_t uwbled,gpsled,loraled,powerled;
extern uint8_t lora_recv_num;
HIDO_UINT32 l_u32GPSTick = 0;
extern uint32_t GPS_ON_TIME;
extern uint32_t lp_time;
uint32_t lora_sendfinalbag_time;
uint32_t lora_sendfinal_rx_time=0;
uint8_t lora_sendfinalbag_flag;
uint8_t lora_sendfinal_rx_bag_flag;
extern uint8_t GPS_final_data[128];
extern uint8_t GPS_final_changdu;
uint8_t fangchai_flag;
extern uint32_t GPSDateTime;

ST_RTCDateTime stGPSDateTime;
enum
{
    GPS_OFF,
    GPS_ON,
    GPS_SUCCESS,
} l_eGPSState;

ST_GPIO l_stDISPIN = { GPIOA, GPIO_PIN_0};
ST_GPIO l_stTypeCPIN = { GPIOB, GPIO_PIN_15};
HIDO_BOOL l_bIsVibration = HIDO_FALSE;

/*******************************************************************************
 *                        Local Function Declaration                           *
 *******************************************************************************/

/*******************************************************************************
 *                             Local Function                                  *
 *******************************************************************************/
extern void delay_ms(uint32_t nTimer)  ;
void PowerDownDetect(void)
{  

   
    if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_9))
      {
          delay_ms(1000);
          if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_9))
          {     
              while(1)
              {
                if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_9)==0) 
                {
                    delay_ms(100);
                    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
                }
            }
          }
      }
}
/*******************************************************************************
 * Function Name     : GPSEventCallback
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
static void GPSEventCallback(E_GPSType _eType, HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    if(GPS_TYPE_GGA == _eType)
    {
//        Lora_SendData((HIDO_UINT8 *)_pcData, _u32Len);
//        loraled=BLUE;
    }
    
    l_eGPSState = GPS_SUCCESS;
}

/*******************************************************************************
 * Function Name     : IsDisassemblyAlarm
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
static HIDO_BOOL IsDisassemblyAlarm(void)
{
    if(GPIO_IS_SET(&l_stDISPIN))
    {
        return HIDO_TRUE;
    }

    return HIDO_FALSE;
}

/*******************************************************************************
 * Function Name     : IsTypecCActive
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
static HIDO_BOOL IsTypecCActive(void)
{
    if(GPIO_IS_SET(&l_stTypeCPIN))
    {
        return HIDO_TRUE;
    }

    return HIDO_FALSE;
}

/*******************************************************************************
 * Function Name     : HAL_GPIO_EXTI_Callback
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê7ÔÂ23ÈÕ
 *******************************************************************************/
extern uint32_t nomove_time;
extern void MX_Init(void);
extern  void SystemClock_Config(void);
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == GPIO_PIN_5)
    {
//        l_bIsVibration = HIDO_TRUE;
        nomove_time=0;
    }
    if(GPIO_Pin == GPIO_PIN_9)
    {
               HAL_ResumeTick();

            SystemClock_Config();
            MX_Init();
            Uart_ReInit(UART_ID_DBG);
            Uart_ReInit(UART_ID_LORA);
            Uart_ReInit(UART_ID_GPS);
        

  
      PowerDownDetect();
    }
    
}
extern void Set4LEDColor_Off(void);
uint8_t lora_sendfinalbag_num;
void Lora_Sendfinalbag_Poll()
{
//    Lora_SendData((HIDO_UINT8 *)GPS_final_data,GPS_final_changdu);  
if(lp_time-lora_sendfinalbag_time>10&&lora_sendfinalbag_flag)
    {
    lora_sendfinal_rx_bag_flag=1;
    Lora_SendData((HIDO_UINT8 *)GPS_final_data,GPS_final_changdu);  
    lora_sendfinalbag_time=lp_time;
    lora_sendfinalbag_num=lora_sendfinalbag_num+1;
        loraled=BLUE;
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
        HAL_Delay(100);
        loraled=LEDOFF;
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
        if(lora_sendfinalbag_num>4)
        {
        lora_sendfinal_rx_bag_flag=0;
        lora_sendfinalbag_flag=0;
        lora_sendfinalbag_num=0;
        }
        HIDO_Debug("lora bufa\r\n");
    }
}

/*******************************************************************************
 * Function Name     : IsVibration
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
static HIDO_BOOL IsVibration(void)
{
    HIDO_BOOL bIsVibration = l_bIsVibration;

    return bIsVibration;
}

/*******************************************************************************
 *                             Global Function                                 *
 *******************************************************************************/

/*******************************************************************************
 * Function Name     : 
 * Description       : 
 * Input             : 
 * Output            : 
 * Return            : 
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
extern HIDO_UINT32 Battery_GetPercentage(void);
HIDO_INT32 APL_Init(void)
{
    //Power_GPS_LoraOn();
    HAL_Delay(3000);
	//Power_Init();
    DBG_Init();
    Shell_Init();
    //ADC_Init();
    //Led_Init();
    GPS_Init();
    lp_time=g_com_map[GPS_ONTIME];
    GPSDateTime=0;
    Accelerometer_Init();
    GPS_SetEventCallback(GPSEventCallback);
    bat_percent=Battery_GetPercentage();
    Lora_Init();

    return HIDO_OK;
}
static uint8_t Input_5V_flag=0;
void Input_5V_Poll (void)
{
    if(IsTypecCActive() == HIDO_TRUE&&Input_5V_flag==0)
    {   Input_5V_flag=1;
        if(bat_percent>=90)
        {        
        powerled=GREEN;
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
//        HIDO_Debug("1111");
        }
        else
        {
        powerled=RED;
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
//            HIDO_Debug("2222");
        }
    }
    if(IsTypecCActive() == HIDO_FALSE)
    {
    Input_5V_flag=0;
//    Set4LEDColor_Off();
//        HIDO_Debug("3333");
    }
}
/*******************************************************************************
 * Function Name     :
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : ¶Å¼ü
 * Modified Date:    : 2018Äê5ÔÂ8ÈÕ
 *******************************************************************************/
extern uint32_t lp_time;
extern uint8_t GPS_ON_flag;
uint32_t GPSDateTime =0;
uint8_t uwbqiehuangps_flag;
extern uint8_t nomove_flag;
HIDO_INT32 APL_Poll(void)
{
//    ST_RTCDateTime stNow;
   
    HIDO_TimerPoll();

    IdleTask();
    GPS_Poll();//gps½ÓÊÕº¯Êý
    Lora_Poll();//lora½ÓÊÕº¯Êý
    if(nomove_flag==0)
{
   Lora_Sendfinalbag_Poll();//loraÔÚgps³É¹¦»ñµÃλÖÃ×ø±ê»òÕß³¬¹ý1·ÖÖÓûÓлñµÃʱ·¢ËÍgps×îºóÒ»°üÊý¾ÝµÄº¯Êý£¬Ö®ºó1·ÖÖÓ(10s)·¢Ò»´Î£¬³ý·ÇloraÊÕµ½Ïû³ý±ê־λ»òÕß·¢Ëͳ¬¹ý10´Î
}
if(Lora_IsIdle() == HIDO_TRUE)
Input_5V_Poll();
#if 1
    if(((Lora_IsIdle() == HIDO_TRUE)/*ΪÁË·ÀÖ¹lora³õʼ»¯µÄʱºò½øÈëÐÝÃß*/ 
      && (GPS_IsIdle() == HIDO_TRUE)/*·ÀÖ¹gps¹¤×÷ʱ½øÈëÐÝÃß*/
      &&(lora_sendfinal_rx_bag_flag==0)//·ÀÖ¹loraÔÚ2sµÈ´ý½ÓÊÕµÄʱºò½øÈëÐÝÃß
      && (IsTypecCActive() == HIDO_FALSE)) /*5vÊäÈë¼ì²âʱ²»ÐÝÃß*/||nomove_flag==1/*¾²Ö¹1СʱÁ¢¿ÌÐÝÃß¡£*/)
    {
//////    if(Lora_IsIdle() == HIDO_TRUE)
        Power_Sleep();
//HIDO_Debug("in  sleep\r\n");
    }
    else
    {
    }
if(nomove_flag==0&&(Lora_IsIdle() == HIDO_TRUE))
{
    if(GPS_ON_flag)
    {
    /* ¼ì²éGPS¶¨Ê± */
    switch(l_eGPSState)
    {
        case GPS_OFF:
        {
            if(lp_time-GPSDateTime > g_com_map[GPS_ONTIME] /*|| IsVibration() == HIDO_TRUE*/||uwbqiehuangps_flag==1)
            {
                uwbqiehuangps_flag=0;
                l_bIsVibration = HIDO_FALSE;
                HIDO_Debug("GPS ON\r\n");
                Power_GPS_LoraOn();
                l_eGPSState = GPS_ON;
                GPSDateTime=lp_time;
                if(IsTypecCActive() == HIDO_FALSE)//Èç¹ûÓÐ5vÊäÈëµÄ»°²»¹ØµÆ¡£
                {
                powerled=LEDOFF;
                Set4LEDColor(powerled,loraled,gpsled,uwbled);  //¹ØһϵçÔ´µÆ£¬·ÀÖ¹gpsͻȻ¹¤×÷²»½øÈëÐÝÃߣ¬µçÔ´µÆ³£Á¿
                }
                
            }

            break;
        }
        case GPS_ON:
        {
            if(lp_time-GPSDateTime > 60)
            {
                lora_sendfinalbag_flag=1;
                lora_sendfinal_rx_bag_flag=1;
                HIDO_Debug("GPS OFF\r\n");
                Power_GPS_LoraOff();
                l_eGPSState = GPS_OFF;
                GPSDateTime=lp_time;
            }

            break;
        }
        case GPS_SUCCESS:
        {
            lora_sendfinalbag_flag=1;
            lora_sendfinal_rx_bag_flag=1;
            HIDO_Debug("GPS SUCCESS\r\n");
            Power_GPS_LoraOff();
            l_eGPSState = GPS_OFF;
            GPSDateTime=lp_time;
            break;
        }
        default:
        {
            break;
        }
    }
    }
    else
    {
            Power_GPS_LoraOff();
            l_eGPSState = GPS_OFF;
//            uwbqiehuangps_flag=1;//Èç¹û·Å¿ª£¬¾ÍÊÇuwbÇе½gps»áÁ¢¿Ì¹¤×÷Ò»´Î£¬²»·Å¿ª¾ÍÊǾÍËãuwbÇл»µ½gpsÒ²ÒªÅжÏÊÇ·ñ¹ýÁËһСʱ
    }
}
else
{
        Power_GPS_LoraOff();
        l_eGPSState = GPS_OFF;
        uwbqiehuangps_flag=1;
}
#ifndef UWB_OFF_FANGCHAI_ON
  #else
    /* ²ðж¸æ¾¯ */
    if(IsDisassemblyAlarm())
    {
        Beep_On();
        fangchai_flag=1;
    }
    else
    {
        Beep_Off();
        fangchai_flag=0;
    }
  #endif
    
#endif
    return HIDO_OK;
}