#include "task_ec800_upload.h"

/* define ------------------------------------------------------------*/
#define 	ANGLE_UPDATE_TIME		50 // 角度更新时间 2s 单位100ms
#define 	SPEED_Go_STRAIGHT		25 // 直行速度 25KM/H 用来判断手把扶正 初始化姿态


/* variables ---------------------------------------------------------*/

// 拷贝数据
void Task_Ec800_Uplaod_CopyRs485Date(rs485RecDate *p_rs485RecDate, messageDate *p_messageDate){
	/* 尝试获取互斥量，等待无限长时间 */
	if(osMutexAcquire(mutex_rs485RecDateHandle, osWaitForever) == osOK)
	{
	  /* 安全地访问s_rs485RecDate结构体 */
		memcpy(&p_messageDate->vehicleSpeed, &p_rs485RecDate->vehicleSpeed, sizeof(p_rs485RecDate->vehicleSpeed));
		memcpy(&p_messageDate->dailyDrivTime, &p_rs485RecDate->dailyDrivTime, sizeof(p_rs485RecDate->dailyDrivTime));
		memcpy(&p_messageDate->dailyDrivMileage, &p_rs485RecDate->dailyDrivMileage, sizeof(p_rs485RecDate->dailyDrivMileage));
		memcpy(&p_messageDate->accTotalDrivTime_day, &p_rs485RecDate->accTotalDrivTime_day, sizeof(p_rs485RecDate->accTotalDrivTime_day));
		memcpy(&p_messageDate->accTotalDrivTime_h_min, &p_rs485RecDate->accTotalDrivTime_h_min, sizeof(p_rs485RecDate->accTotalDrivTime_h_min));
		memcpy(&p_messageDate->accTotalMileage_h, &p_rs485RecDate->accTotalMileage_h, sizeof(p_rs485RecDate->accTotalMileage_h));
		memcpy(&p_messageDate->accTotalMileage_l, &p_rs485RecDate->accTotalMileage_l, sizeof(p_rs485RecDate->accTotalMileage_l));
		memcpy(&p_messageDate->runTime, &p_rs485RecDate->runTime, sizeof(p_rs485RecDate->runTime));
		memcpy(&p_messageDate->batCompartmentTemp, &p_rs485RecDate->batCompartmentTemp, sizeof(p_rs485RecDate->batCompartmentTemp));
		memcpy(&p_messageDate->demandCur, &p_rs485RecDate->demandCur, sizeof(p_rs485RecDate->demandCur));
		memcpy(&p_messageDate->demandVol, &p_rs485RecDate->demandVol, sizeof(p_rs485RecDate->demandVol));
		memcpy(&p_messageDate->alarmLevel, &p_rs485RecDate->alarmLevel, sizeof(p_rs485RecDate->alarmLevel));
		memcpy(&p_messageDate->alarmType, &p_rs485RecDate->alarmType, sizeof(p_rs485RecDate->alarmType));
		memcpy(&p_messageDate->batSn, &p_rs485RecDate->batSn, sizeof(p_rs485RecDate->batSn));
		memcpy(&p_messageDate->Vehicle_Num, &p_rs485RecDate->Vehicle_Num, sizeof(p_rs485RecDate->Vehicle_Num));
		memcpy(&p_messageDate->VIN, &p_rs485RecDate->VIN, sizeof(p_rs485RecDate->VIN));
	  
	  /* 访问完成，释放互斥量 */
	  osMutexRelease(mutex_rs485RecDateHandle);
	}	

	// 车辆状态判断
	if(s_comData.driveStatus == 2){
		p_messageDate->vehicleStatus = 0;
	}else if(s_comData.driveStatus == 3){
		p_messageDate->vehicleStatus = 1;
	}

	// 故障数据copy
	p_messageDate->malfunction = s_comData.Malfunction;

	// 角度数据赋值
	p_messageDate->drivDirection = previousYaw;
}

// 故障处理 尝试重新连接
void gyroscope_fault_deal(void){
	uint8_t recBack = 0;

	if(BIT_CHECK(s_comData.Malfunction, gyroscope)){
		recBack = atk_ms6050_init();
		if(recBack != 0){
			printf("ATK-MS6050 init failed!\r\n");
			return;
		}
		printf("ATK-MS6050 init\r\n");

		recBack = atk_ms6050_dmp_init();
		if(recBack != 0){
			printf("ATK-MS6050 DMP init failed!\r\n");
			return;
		}
		printf("ATK-MS6050 DMP init!\r\n");

		BIT_CLEAR(s_comData.Malfunction, gyroscope);
	}
}

/**
 * @brief 上传故障信息
 * @note  如果存在故障，每秒上传一次故障报告
 * @param 无
 * @retval 无
 */
void upload_fault_info(void) {
    static uint8_t upload_interval_counter = 0; // 上传间隔计数器
    comData *p_comData = &s_comData;

    // 检查是否存在故障
    if (p_comData->Malfunction == 0) {
        return; // 如果没有故障，直接返回
    }

    // 如果计数器达到上传间隔，上传故障报告
    if (upload_interval_counter % 10 == 0) {
        EC800_uploadFaultReport();
    }

    // 更新计数器
    if (upload_interval_counter < 250) {
        upload_interval_counter++;
    } else {
        upload_interval_counter = 0;
    }
}


/**
 * @brief       上传任务内容
 * @param       None
 * @note       	None
 * @retval      None
 */
void task_ec800_content(void)
{
//	unsigned long times = 0;

	// 蜂鸣器响应
	control_beep_response();

	// 检测是否正在升级固件
	if(s_ec800Date.hardwareUpdate == 1){
		osDelay(100);
		return;
	}

	// 拷贝485接收道德数据到待发送的消息中
	Task_Ec800_Uplaod_CopyRs485Date(&s_rs485RecDate, &s_messageDate);

	// 4G模块的操作
	EC800_stateTransition_use();

	// 上传故障信息
	upload_fault_info();

	// 陀螺仪故障处理 尝试重新连接
	gyroscope_fault_deal();

	// 判断车辆是否正在转弯 陀螺仪数据
	if (isTurning()) {
		printf("The vehicle is turning.\r\n");
	} else {
		printf("Vehicle not turning.\r\n");
	}

//	times = getRunTimeCounterValue();
//	printf("任务运行时间: %ld\r\n", times);
	osDelay(100);
}