//
// Created by 20420 on 2024/12/4.
//

#include "openmv.h"
#include "string.h"
#include "bsp_usart.h"
#include "stdlib.h"
#include "daemon.h"
#include "bsp_log.h"

#define OPENMV_SIZE 10u //接收openmv发送的数组

// openmv数据
static Openmv_Information openmv_ctrl[2];     //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
static uint8_t open_init_flag = 0; // 遥控器初始化标志位


//openmv的串口实例
static USARTInstance *openmv_usart_instance;
static DaemonInstance *openmv_daemon_instance;



static void sbus_to_openmv(const uint8_t *sbus_buf)
{
    openmv_ctrl[0].cx = sbus_buf[0];
    openmv_ctrl[0].cy = sbus_buf[1];
    openmv_ctrl[0].cw  = sbus_buf[2];
    openmv_ctrl[0].ch = sbus_buf[3];

}

static void OpenmvRxCallback()
{
    DaemonReload(openmv_daemon_instance);         // 先喂狗
    sbus_to_openmv(openmv_usart_instance->recv_buff); // 进行openmv协议解析
}

 static void OpenmvLostCallback(void *id)
{
 memset(openmv_ctrl, 0, sizeof(openmv_ctrl)); // 清空遥控器数据
USARTServiceInit(openmv_usart_instance); // 尝试重新启动接收
LOGWARNING("[rc] openmv lost");
}

Openmv_Information *OpenmvInit(UART_HandleTypeDef *openmv_usart_handle)//rc_usart_handle
{
    USART_Init_Config_s conf;
    conf.module_callback = OpenmvRxCallback;
    conf.usart_handle = openmv_usart_handle;
    conf.recv_buff_size = OPENMV_SIZE;
    openmv_usart_instance = USARTRegister(&conf);

    // 进行守护进程的注册,用于定时检查遥控器是否正常工作
    Daemon_Init_Config_s daemon_conf = {
        .reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz)
        .callback = OpenmvLostCallback,
        .owner_id = NULL, // 只有1个遥控器,不需要owner_id
    };
    openmv_daemon_instance = DaemonRegister(&daemon_conf);

    open_init_flag = 1;
    return openmv_ctrl;
}

uint8_t OpenmvIsOnline()
{
    if (open_init_flag)
        return DaemonIsOnline(openmv_daemon_instance);
    return 0;
}