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

//#define MODBUS_SLAVER_DW20_REG_START 0x02
//#define MODBUS_SLAVER_DW20_REG_NUM 0x02
#define MODBUS_SLAVER_RETRY_MAX_TIME 2

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;
	ts_485.ackFlag = 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->ackFlag = 0;
			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.t_5ms;
		L2_task_go(D_task_485_wait_modbus_ack);
		
    TTSS_Task_step(D_task_485_wait_modbus_ack)
		if(s_uart2_rec.ok)//接收到ack
		{
			s_uart2_rec.ok = 0;
			s->pAckPkg = (TS_PH4_modbus*)(s_uart2_rec.buf);
			if((s->pAckPkg->salver != G.md_slaver_info[s->slaverIndex].slaver) || 
				(s->pAckPkg->oper != G.md_slaver_info[s->slaverIndex].oper))
			{
				return;
			}
			
			if(G.md_slaver_info[s->slaverIndex].mask == 1)
			{
				G.md_slaver_info[s->slaverIndex].mask = 0;
			}

			switch(s->slaverIndex)
			{
			case 0:
				G.total_weight = 
					(S32)(s->pAckPkg->buf[1]) << 24 
					| (S32)(s->pAckPkg->buf[2]) << 16 
					| (S32)(s->pAckPkg->buf[3]) << 8
					| (S32)(s->pAckPkg->buf[4]);
				G.ch_weight[0] = 
					(S32)(s->pAckPkg->buf[5]) << 24 
					| (S32)(s->pAckPkg->buf[6]) << 16 
					| (S32)(s->pAckPkg->buf[7]) << 8
					| (S32)(s->pAckPkg->buf[8]);
				G.ch_weight[1] = 
					(S32)(s->pAckPkg->buf[9]) << 24 
					| (S32)(s->pAckPkg->buf[10]) << 16 
					| (S32)(s->pAckPkg->buf[11]) << 8
					| (S32)(s->pAckPkg->buf[12]);
				G.ch_weight[2] = 
					(S32)(s->pAckPkg->buf[13]) << 24 
					| (S32)(s->pAckPkg->buf[14]) << 16 
					| (S32)(s->pAckPkg->buf[15]) << 8
					| (S32)(s->pAckPkg->buf[16]);
				G.ch_weight[3] = 
					(S32)(s->pAckPkg->buf[17]) << 24 
					| (S32)(s->pAckPkg->buf[18]) << 16 
					| (S32)(s->pAckPkg->buf[19]) << 8
					| (S32)(s->pAckPkg->buf[20]);
				
				G.jing_weight = (G.total_weight <= G.pi_weight) ? (0) :(G.total_weight - G.pi_weight) ;
				break;
			case 1:
				G.asga.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
				G.asga.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
				G.asga.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
				break;
			case 4:
				if(s->pAckPkg->buf[2] != G._keyled)	//按键发生改变
				{
					G._keyled = s->pAckPkg->buf[2];
					L0_uart0_uchex(G._keyled);
					if(G._keyled == 0)
					{
						//TODO
					}
					else if(G._keyled == 0x1e)
					{
						L0_uart0_uc('#');
						G.pi_weight = G.total_weight; 
					}
					else
					{
						//G.rfid = G._keyled;
						U32 rfid = key_rfid_map_out(G._keyled);
						G.rfid[0] = D_CAR_HOSPITAL_NO >> 8 & 0xFF;
						G.rfid[1] = D_CAR_HOSPITAL_NO >> 0 & 0xFF;;
						G.rfid[2] = rfid >> 24 & 0xFF;
						G.rfid[3] = rfid >> 16 & 0xFF;
						G.rfid[4] = rfid >> 8 & 0xFF;
						G.rfid[5] = rfid >> 0 & 0xFF;
					}
				}
				break;
			case 5:
				G.asga_02.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
				G.asga_02.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
				G.asga_02.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
				break;
			}
			//TODO 这里可以根据modbus协议让代码通用
			L2_task_go(D_task_485_switch_next_slaver);
		}
		else if(s_nos_tick.t_5ms - s->sendStamp >= 8)	//超时
		{			
			if(++s->retryTimes >= MODBUS_SLAVER_RETRY_MAX_TIME)
			{	
				L2_task_go(D_task_485_switch_next_slaver);
			}
			else
			{
				L2_task_go(D_task_485_send_modbus_pkg);
			}
		}
		else//未收到未超时
		{
			//继续等待
		}
	TTSS_Task_step(D_task_485_switch_next_slaver)
		if(++ s->slaverIndex >= MD_SLAVER_INFO_MAX)
		{
			s->slaverIndex = 0;
		}
		L2_task_go(D_task_485_constructor_modbus_pkg);
		
	TTSS_Task_end();
}