#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);
	}	
}

/**
 * @brief       上传任务内容
 * @param       None
 * @note       	None
 * @retval      None
 */
void task_ec800_content(void)
{
//	unsigned long times = 0;
	static uint8_t firstFlag = 0; // 初次标志
	messageDate *p_messageDate = &s_messageDate; // 定义消息指针
	uint8_t recBack = 0;

	// 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();

	// 陀螺仪姿态初始化
	// 速度达到25km/s往上，判断手把握正
	if((p_messageDate->vehicleSpeed >= SPEED_Go_STRAIGHT) && (firstFlag == 0)){

		recBack = atk_ms6050_init();
		if(recBack != 0){
			printf("ATK-MS6050 init failed!\r\n");
			BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
			return;
		}
		printf("ATK-MS6050 init\r\n");
		
		recBack = atk_ms6050_dmp_init();
		if(recBack != 0){
			printf("ATK-MS6050 DMP init failed!\r\n");
			BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
			return;
		}
		printf("ATK-MS6050 DMP init!\r\n");

		BIT_CLEAR(s_comData.Malfunction, gyroscope);
		firstFlag = 1;
	}
	

	// 判断车辆是否正在转弯 陀螺仪数据
	if((firstFlag == 1) && (s_ec800Date.hardwareUpdate != 1)){
		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);
}