#include "app_task_485.h"
#include "../msp/uart0.h"
#include "../msp/uart2.h"
#include "../app/app_common.h"

#define MODBUS_SLAVER_RETRY_MAX_TIME 3

TS_485 ts_485;

void L3_task_485_init(void)
{
	L1_task_init(&ts_485.task);
	L3_task_s_go(ts_485,D_task_init);
	ts_485.slaverIndex = 0;
	ts_485.pkglen = 0;
	ts_485.retryTimes = 0;
}

#define D_task_485_constructor_modbus_pkg 0x51
#define D_task_485_send_modbus_pkg 0x52
#define D_task_485_wait_modbus_ack 0x53
#define D_task_485_switch_next_slaver 0x54

void L3_task_485_handle(TS_485 *s)
{
  TTSS_Task_init();
		L2_task_go(D_task_485_constructor_modbus_pkg);
		
	TTSS_Task_step(D_task_485_constructor_modbus_pkg)
		if(G.md_slaver_info[s->slaverIndex].mask > 0)
		{
			s->pkglen = L3_pack_modbus(&s->loopPkg,G.md_slaver_info + s->slaverIndex);
			s->retryTimes = 0;
			L2_task_go(D_task_485_send_modbus_pkg);
		}
		else
		{
			L2_task_go(D_task_485_switch_next_slaver);
		}
		
	TTSS_Task_step(D_task_485_send_modbus_pkg)
		L0_uart2_sendArray((U8*)&s->loopPkg,s->pkglen);
		s->sendStamp = s_nos_tick.jiffies;
		s->slaver = G.md_slaver_info[s->slaverIndex].slaver;
		L2_task_go(D_task_485_wait_modbus_ack);
		
    TTSS_Task_step(D_task_485_wait_modbus_ack)
		if(s_uart2_rec.ok == 1)	//接收到ack
		{
			s_uart2_rec.ok = 0;
			s->pAckPkg = (TS_PH4_modbus*)(s_uart2_rec.buf);
			if(s->pAckPkg->salver == s->slaver)
			{
				if(G.md_slaver_info[s->slaverIndex].mask == 1)
				{
					G.md_slaver_info[s->slaverIndex].mask = 0;
				}
				if(s->slaver == SLAVER_ASGA03_01 || s->slaver == SLAVER_ASGA03_02)	//0和1是	倾角
				{
					s->pAngle = (TS_Angle*)(s->pAckPkg->buf + 1);
					G.currentSensorVal[s->slaver - U485_BASE] = (U16)s->pAngle->xaxis[0] << 8 | s->pAngle->xaxis[1];
					G.papers[s->slaver - U485_BASE].version = APP_VERSION_HEX;
					G.papers[s->slaver - U485_BASE].LowPower = 0x00;			//1bit
					G.papers[s->slaver - U485_BASE].cameraNotWorking = 0x00;	//1bit
					G.papers[s->slaver - U485_BASE].cameraIndex = s->slaver - U485_BASE;	//4bit
					G.papers[s->slaver - U485_BASE].paperNum = 
							L2_paper_count(s->slaver - U485_BASE, (U16)s->pAngle->xaxis[0] << 8 | s->pAngle->xaxis[1]);		//10bit
					//L0_uart0_uc(s->pAngle->xaxis[0]);
					//L0_uart0_uc(s->pAngle->xaxis[1]);
				}
				L2_task_go(D_task_485_switch_next_slaver);
			}
			//else继续等待
		}
		else if(s_nos_tick.jiffies - s->sendStamp >= 20)	//超时
		{
			if(++s->retryTimes >= MODBUS_SLAVER_RETRY_MAX_TIME)
			{	
				if(s->slaver == SLAVER_ASGA03_01 || s->slaver == SLAVER_ASGA03_02)	//0和1是	倾角
				{
					G.papers[s->slaver - U485_BASE].version = APP_VERSION_HEX;
					G.papers[s->slaver - U485_BASE].LowPower = 0x00;			//1bit
					G.papers[s->slaver - U485_BASE].cameraNotWorking = 0x01;	//1bit
					G.papers[s->slaver - U485_BASE].cameraIndex = s->slaver - U485_BASE;	//4bit
					G.papers[s->slaver - U485_BASE].paperNum = 0x00;		//10bit
				}
				L2_task_go(D_task_485_switch_next_slaver);
			}
			else
			{
				L2_task_go(D_task_485_send_modbus_pkg);
			}
		}
		//else继续等待	//未接受到数据，但未超时
		
	TTSS_Task_step(D_task_485_switch_next_slaver)
		if(++ s->slaverIndex >= MD_SLAVER_INFO_MAX)
		{
			s->slaverIndex = 0;
		}
		L2_task_go_Tdelay(D_task_485_constructor_modbus_pkg,D_Tdelay_400ms);
		
	TTSS_Task_end();
}