#include "device/ai.h"
#include "device/device.h"
#include "bsp/uart.h"
#include "component/crc16.h"


int8_t AI_Init(AI_t *ai) {
  if (ai == NULL) return DEVICE_ERR_NULL;
//  if (inited) return DEVICE_ERR_INITED;
//  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;

  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_AI,
                            BSP_UART_RX_CPLT_CB);
//  inited = true;
  return 0;
}


int8_t AI_StartReceiving(AI_t *ai) {
  if (BSP_UART_Receive(BSP_UART_AI,&ai->RX,sizeof(ai->RX), true)==HAL_OK) {
    return DEVICE_OK;}
  return DEVICE_ERR;
}

int8_t AI_Get_NUC(AI_t *ai,AI_cmd_t* ai_cmd) {
		if(ai->RX.head[0]!='M'&&ai->RX.head[1]!='R'){
					return DEVICE_ERR;
		}
//		CRC16_Calc(&ai->RX,sizeof(ai->RX),ai->RX.crc16);
		if(CRC16_Verify((const uint8_t*)&(ai->RX), sizeof(ai->RX))!=true){
				  return DEVICE_ERR;
		}
		ai_cmd->gimbal_t.setpoint.pit=ai->RX.pitch;
		ai_cmd->gimbal_t.setpoint.yaw=ai->RX.yaw;
		ai_cmd->mode=ai->RX.mode;
		ai_cmd->gimbal_t.accl.pit=ai->RX.pitch_acc;
		ai_cmd->gimbal_t.vel.pit=ai->RX.pitch_vel;
		ai_cmd->gimbal_t.accl.yaw=ai->RX.yaw_acc;
		ai_cmd->gimbal_t.vel.yaw=ai->RX.yaw_vel;		
  return DEVICE_OK;
}


int8_t AI_ParseHost(AI_t* ai,Gimbal_Feedback_t* g_feedback){
		ai->TX.head[0]='M';
		ai->TX.head[1]='R';	
//		ai->TX.mode=2;
		ai->TX.pitch=g_feedback->motor.pit.rotor_abs_angle;
		ai->TX.yaw=g_feedback->motor.major_yaw.rotor_abs_angle;	
		ai->TX.pitch_vel=g_feedback->motor.pit.rotor_speed;
		ai->TX.yaw_vel=g_feedback->motor.major_yaw.rotor_speed;	
		ai->TX.q[0]=g_feedback->imu.quat.q0;	
		ai->TX.q[1]=g_feedback->imu.quat.q1;	
		ai->TX.q[2]=g_feedback->imu.quat.q2;	
		ai->TX.q[3]=g_feedback->imu.quat.q3;		

		ai->TX.bullet_count=10;
		ai->TX.bullet_speed=22;	
		
		ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t), CRC16_INIT );
		if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){
				  return DEVICE_ERR;
		}
		      return DEVICE_OK;
}

int8_t AI_StartSend(AI_t *ai) {

      if (BSP_UART_Transmit(BSP_UART_AI,&ai->TX,sizeof(ai->TX), true)==HAL_OK)  
      return DEVICE_OK;
//    else
//      return DEVICE_ERR;
//  } else {
//    if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI),
//                              (uint8_t *)&(ai->TX),
//                              sizeof(ai->TX)) == HAL_OK)
//      return DEVICE_OK;
//    else
//      return DEVICE_ERR;
//  }
}