#include "nuc.h"
#include "crc16.h"
#include <string.h>
#include "define.h"
#include "error_detect.h"

static volatile uint32_t drop_message = 0;

static osThreadId_t thread_alert;

uint8_t nucbuf[16];
uint8_t SendBuffer[19];

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;
    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
   BSP_UART_RegisterCallback(BSP_UART_NUC,BSP_UART_IDLE_LINE_CB,
                            NUC_IdleCallback);
	
   return DEVICE_OK;
}
int8_t NUC_StartReceiving() {
  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
                           (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_NUC));
  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC));
  return DEVICE_OK;
}
bool_t NUC_WaitDmaCplt(void) {
  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
          SIGNAL_NUC_RAW_REDY);
}

int8_t NUC_Send(fp32 *data) {
  union {
		float x[4];
		uint8_t  data[16];
	}instance;
  for (int i = 0; i < 4; i++) {
    instance.x[i] = data[i];
  }
  SendBuffer[0] = 0xFC; //发送ID
  SendBuffer[1] = 0x01; //控制帧
  for(int i = 2; i < 18; i++){
   SendBuffer[i] = instance.data[i-2];
  }
  SendBuffer[18] = 0xFD; //结束符

  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
		return DEVICE_OK;	
	}   
	return DEVICE_ERR;
}
int i= 0;
int8_t NUC_RawParse(CMD_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;
  }
  if (nucbuf[15] != TAIL) {
      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->pit_status = nucbuf[2];

  //switch (n->status_fromnuc) {
 //     case navi:
          /* 协议格式 
             0xFF  HEAD
             0x02  控制帧
             0x01  相机帧
             x    fp32
             y    fp32
             z    fp32
             0xFE  TAIL
          */
#ifdef radar
if(nucbuf[0] == HEAD&&nucbuf[15] == TAIL){
          instance.data[0] = nucbuf[3];
          instance.data[1] = nucbuf[4];
          instance.data[2] = nucbuf[5];
          instance.data[3] = nucbuf[6];
          n->nuc.vx = instance.x[0];

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

          instance.data[8] = nucbuf[11];
          instance.data[9] = nucbuf[12];
          instance.data[10] = nucbuf[13];
          instance.data[11] = nucbuf[14];
          n->nuc.vw = instance.x[2];
		 if(n->nuc.vw == 0){
	   i++; 	 
		 }
	 }
#elif defined(carmera_angle)|| defined(camera_angle_static)
          instance.data[3] = nucbuf[3];
          instance.data[2] = nucbuf[4];
          instance.data[1] = nucbuf[5];
          instance.data[0] = nucbuf[6];
          n->nuc.vx = instance.x[0];

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

          instance.data[11] = nucbuf[11];
          instance.data[10] = nucbuf[12];
          instance.data[9] = nucbuf[13];
          instance.data[8] = nucbuf[14];
          n->nuc.vw = instance.x[2];	 
   	 
#endif		   

 //         break;

//  }
 return 0; 
}

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