#include "nuc.h"
#include <string.h>
#include "crc_ccitt.h"

uint8_t nucbuf[32];

static void NUC_IdleCallback(void) {	
	// osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
	// detect_hook(NUC_TOE);
}

int8_t NUC_Init(NUC_t *nuc){
    if(nuc == NULL) return DEVICE_ERR_NULL;
  //信号量的东西 // if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
   BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
                            NUC_IdleCallback);
	
   return DEVICE_OK;
}

int8_t NUC_StartReceiving(void) {
  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
                           (uint8_t *)nucbuf,
                           sizeof(nucbuf)) == HAL_OK)
    return DEVICE_OK;
  return DEVICE_ERR;
}

int8_t NUC_Restart(void) {
  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
  return DEVICE_OK;
}


bool_t NUC_WaitDmaCplt(void) {
  // return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
  //         SIGNAL_NUC_RAW_REDY);
  return 1;
}

int8_t NUC_RawParse(NUC_t *n) {
  if (n == NULL) return DEVICE_ERR_NULL;
  union {
      float x[3];
      char data[12];
  } instance; // 方便在浮点数和字符数组之间进行数据转换

  // 校验数据包头
  if (nucbuf[0] != HEAD) {
      return DEVICE_ERR;
  }
  // 提取数据包中的 CRC 值（假设 CRC 值在数据包的最后两个字节）
  uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
  uint16_t calculated_crc = do_crc_table(nucbuf, 16);     // 计算前 16 字节的 CRC
  // 校验 CRC
  if (received_crc == calculated_crc) {
    
    n->status_fromnuc = nucbuf[1];
  n->ctrl_status = nucbuf[2];

  switch (n->status_fromnuc) {
      case VISION:
          /* 协议格式 
             0xFF  HEAD
             0x02  控制帧
             0x01  相机帧
             x    fp32
             y    fp32
             z    fp32
             0xFE  TAIL
          */
          if (nucbuf[15] != TAIL) goto error;

          instance.data[3] = nucbuf[3];
          instance.data[2] = nucbuf[4];
          instance.data[1] = nucbuf[5];
          instance.data[0] = nucbuf[6];
          n->vision.x = instance.x[0];

          instance.data[7] = nucbuf[7];
          instance.data[6] = nucbuf[8];
          instance.data[5] = nucbuf[9];
          instance.data[4] = nucbuf[10];
          n->vision.y = instance.x[1];

          instance.data[11] = nucbuf[11];
          instance.data[10] = nucbuf[12];
          instance.data[9] = nucbuf[13];
          instance.data[8] = nucbuf[14];
          n->vision.z = instance.x[2];
          break;


  }
  return DEVICE_OK;
 }
  else 
  {
    return DEVICE_ERR;
  
  }

error:
  return DEVICE_ERR;
}


int8_t NUC_HandleOffline(NUC_t *cmd)
{
	if(cmd == NULL) return DEVICE_ERR_NULL;
	 memset(cmd, 0, sizeof(*cmd));
	return 0;
}