#include "asp_oid.h"

TS_task_oid_ ts_task_oid;

Ts_OID_frame_xy_ oid_buf[POINT_LEN+10];
Ts_OID_frame_xy_ points[POINT_LEN+10];




#define D_TASK_OID_t1	0x11
#define D_TASK_OID_XY	0x12
#define TTSS_TASK_OID_STA	0x13
#define D_TASK_PEN_UP	0x14
#define TTSS_TASK_OID_WRITE	0x15
#define TTSS_TASK_OID_SEND	0x16


void L3_task_oid_handle(TS_task_oid_ *s)
{
	// L0_uart0_sendstr("oid_p");
	
	TTSS_Task_init();
		TTSS_Alarm_init(s->tts,300);
	///(X) = s_nos_tick.t_10ms + delay;
		L2_task_go(D_TASK_OID_t1);
	TTSS_Task_step(D_TASK_OID_t1)
		if(TTSS_Alarm_AT(s->tts))
		{///if( (X) < s_nos_tick.jiffies) 
			TTSS_Alarm_init(s->tts,1000);
			s->p_ok = 1;
			s->ts_frame.flag.sta = D_PEN_none;//超时没有数据
			s->ts_frame.cd.xy100.x100 = 0;
			s->ts_frame.cd.xy100.y100 = 0;
			s->ts_frame.flag.angle= 0;
			s->ts_frame.time= D_sys_now;
			L2_task_go(TTSS_TASK_OID_WRITE);
		}
		else if(ts_oid.oid_p)
		{
			ts_oid.oid_p = 0;
			TTSS_Alarm_init(s->tts,1000);
			s->ts_frame.flag.sta = D_PEN_gcode;
			s->ts_frame.cd.gcode = ts_oid.gCode;
			s->ts_frame.time= D_sys_now;
			//L0_uart2_sendArray((U8 *)&s->ts_frame,(U16)10);
			//Lc_buf_copy_uc((U8 *)&R.points[0],(U8 *)&s->ts_frame,(U16)10);
			//s->extra = 1;
			//s->can_send = 1;
			s->send_p = 1;
			L2_task_go(TTSS_TASK_OID_WRITE);
		}
		else
		{
			L2_task_go(D_TASK_OID_XY);
		}
	TTSS_Task_step(D_TASK_OID_XY)
		if(ts_oid.oid_x)
		{
			ts_oid.oid_x = 0;
			TTSS_Alarm_init(s->tts,1000);
			s->ts_frame.cd.xy100.x100 = ts_oid.X100;
			s->ts_frame.cd.xy100.y100 = ts_oid.Y100;
			s->ts_frame.flag.packageNo = 0;
			s->ts_frame.flag.angle = ts_oid.angle;
			s->ts_frame.time = ts_oid.time;
			L2_task_go(TTSS_TASK_OID_STA);	
		}
		else
		{
			L2_task_go(D_TASK_PEN_UP);
		}
	TTSS_Task_step(TTSS_TASK_OID_STA)
		if(ts_oid.pre_x == 0 && ts_oid.pre_y == 0 && ts_oid.X100 != 0 &&ts_oid.Y100 != 0)
		{
			s->ts_frame.flag.sta = D_PEN_down;
			L2_task_go(TTSS_TASK_OID_WRITE);
		}
		else if(ts_oid.pre_x != 0 && ts_oid.pre_y != 0&& ts_oid.X100 != 0 &&ts_oid.Y100 != 0)
		{
			s->ts_frame.flag.sta = D_PEN_normal;
			L2_task_go(TTSS_TASK_OID_WRITE);
		}
	TTSS_Task_step(D_TASK_PEN_UP)
		if(G.pen_up && G.pen_t)
		{
			G.pen_up = 0;
			s->send_t =1;
			TTSS_Alarm_init(s->tts,1000);
			s->ts_frame.flag.sta = D_PEN_up;
			s->ts_frame.time = D_sys_now;
			ts_oid.X100 = 0;
			ts_oid.Y100 = 0;
			ts_oid.time = 0;
			ts_oid.angle = 0;
			L2_task_go(TTSS_TASK_OID_WRITE);
		}
		else
		{
			L2_task_go(D_TASK_OID_t1);
		}
	TTSS_Task_step(TTSS_TASK_OID_WRITE)
		//L0_uart0_sendArray((U8 *)&s->ts_frame,(U16)10);
		Lc_buf_copy_uc((U8 *)&oid_buf[s->point],(U8 *)&s->ts_frame,(U16)10);
		s->point ++;
		L2_task_go(TTSS_TASK_OID_SEND);
		TTSS_Task_step(TTSS_TASK_OID_SEND)
		if(((s->point) > (POINT_LEN - 1))|| s->send_t||s->p_ok||s->send_p)
		{	
			U8 j;
			U16 k;
			s->extra = s->point;
			s->point = 0;
			s->p_ok = 0;
			s->send_p = 0;
			s->send_t = 0;
			for(j = 0;j<s->extra;j++)
			{
				Lc_buf_copy_uc((U8 *)&points[j],(U8 *)&oid_buf[j],(U16)10);
				//L0_uart0_sendArray((U8 *)&points[j],(U16)10);  // 1
				//L0_uart0_0d0a();
			}

			//L0_uart0_sendstr("points->cd.xy100.x100 = ");    // 2 
			//L0_uart0_ushex(points->cd.xy100.x100);
			//L0_uart0_0d0a();
			//L0_uart0_sendstr("points->cd.xy100.y100 = ");
			//L0_uart0_ushex(points->cd.xy100.y100);
			//L0_uart0_0d0a();

			//G.ccmd_slaver_info[1].buf = (U8*)&points;
			//G.ccmd_slaver_info[1].extra_num = (s->extra)*5;
			//L0_uart0_sendArray((U8 *)&points,(s->extra)*10);
			//s->extra = 0;
			s->can_send = 1;
			#if 0//3
			for(j = 0;j<k;j++)
			{
				L0_uart0_sendArray((U8 *)&oid_buf[j],(U16)10);
				L0_uart0_uc(' ');
			}
			#endif
			L2_task_go(D_TASK_OID_t1);
		}
		else
		{
			L2_task_go(D_TASK_OID_t1);
		}
	TTSS_Task_end();
}



void L1_oid_init(void)
{

	L0_Oid_Init();
	LD_Oid_SCK_LOW();
	
	L1_task_init(&ts_task_oid.task);
	ts_task_oid.can_send = 0;
	ts_task_oid.p_ok = 0;
	ts_task_oid.point = 0;
	L3_task_s_go(ts_task_oid,D_task_init);
}



void L1_oid_main(void)
{

}

#ifdef doc2342342
	命令1个字节
	
		////         fa 00 |00 04 00 03 46 A9 
		////   buf   0  1  |2  3  4  5  6  7

		////         fa        00 |35 20 10 55 05 06
                     |          | |cmd
                     |-filter   |     dat
                      oid  cmd -|   
	
		////读取2010 fa 0d |36 20 10 55 05 06
		
#endif




void L1_oid_debug(u8 *para)
{ 
	uint32_t r;
	TS_oid_cmd *t =(TS_oid_cmd *)para;
//	ET0 = 0;
	L0_uart0_sendArray("\r\noid debug:",13);
	////		     fa 00 |00 04 00 03 46 A9 
		////   buf   0  1  |2  3  4  5  6  7

		////     fa 00 |11 20 10 55 05 06
		////			UDCMD_wakeup	
	
		////     fa 00 |22 20 42 53 64 75
		////			cmd=20
		switch(t->cmd)
		{
			case UDCMD_wakeup:
				L0_uart0_sendstr("\r\nL1_OID_WakeUp ");
				L1_OID_WakeUp();
			break;
			case UDCMD_cmdsend:
				///fa 00 22 cmd 42 53 64 75
				///fa 00 |22 cmd 42 53 64 75
				L0_uart0_sendstr("\r\ncmd:"); 
				L0_uart0_uchex(t->dat);L0_uart0_0d0a();	
				L1_oid_TransCmd(t->dat);
			break;
			case UDCMD_log:
				L0_uart0_sendstr("\r\nLogRegister"); 		
			///	LogRegister();	
			break;
			case UDCMD_CheckVersion:
				L0_uart0_sendstr("\r\n CheckVersion"); 		
///			L1_oid_CheckVersionAndInit(eAppDevice);
			//	while(1)
				{
			//		OidTaskLoop();	
				}
			break;
			case UDCMD_get:
				L0_uart0_sendstr("\r\n UDCMD_get");		
				while(9)
				{
					L1_Oid_readoid();	
				
				}

			break;
			case UDCMD_readreg:
					
				///fa 00 22 cmd 42 53 64 75
				///fa 00 |22 cmd 42 53 64 75
		 		r = L1_oidReadRegister (t->reg);
				
				L0_uart0_sendstr("\r\n read reg:"); 
				L0_uart0_ushex(t->reg);
				Lc_delay_ms(1);
				L0_uart0_sendstr(" = "); 		
				L0_uart0_ulhex(r);
			
				L0_uart0_uc(0x09);	
			break;		
			#if 0
			case UDCMD_testtime_us:	
				L0_uart0_sendstr("\r\nUDCMD_testtime_us"); 	
				L0_uart0_uchex(t->dat);L0_uart0_0d0a();
				while(9)
				{
			///		delay_us(t->dat);
					D_IO_LEDkey1_ON();
			//		delay_us(t->dat);
					D_IO_LEDkey1_OFF();
				}
			break;
			
			case UDCMD_testtime_ms:	
				L0_uart0_sendstr("\r\nUDCMD_testtime_ms"); 	
				L0_uart0_uchex(t->dat);L0_uart0_0d0a();	
		
				while(9)
				{
			///		delay_ms(t->dat);
					D_IO_LEDkey1_ON();
			//		delay_ms(t->dat);
					D_IO_LEDkey1_OFF();
				}
				break;
				#endif
			default:
				L0_uart0_sendstr("\r\ncmd error!!");
				L0_uart0_0d0a();
			break;
		}
				ET0 = 1;
}

//oid协议：
// 00 47 A0 00 00 00 4E 86 (MSB)
// 00 45 40 00 00 00 4E 86 (MSB)
// 00 4A A0 00 00 00 4E 86 (MSB)

//type部分  63-60 0000 (type)
//保留部分  59-54 00 0000 
//angle部分	53–45 0 0000 0000b (angle)
//保留部分  44	  0 
//小数部分	43–36 1111 0010b (Y decimal)
//小数部分	35–28 0111 0100b (X decimal) 
//整数部分 	27–14 00 0000 0000 0100b (Y integer)
//整数部分 	13–0  00 0000 0000 0100b (X integer)		

void parse_oid_pkg()
{


	
}