#include "insifhtica_QOAR1271.h"
#include "uavcan.h"
#include "custom_data_def.h"
#define MAX_MR71_DIST_CM 6000

uint8_t ar1271_data[LIDAR_360_SIZE];
//static uint8_t data = 0;
//static uint8_t step = 0;
uint16_t ar1271_rev_flag = 0;

uint32_t last_rev_usart1_tick;
uint32_t last_rev_usart2_tick;


struct mr72_c{
    uint32_t time_ms;
    float range_f;
    uint16_t range;
    float azimuth;
    float vrel;
    uint8_t index;
    uint8_t rollcount;
    uint8_t rcs;
}mr72_c_data;

uint16_t range_arr[8];
float last_range;
uint32_t last_time_ms;
uint8_t range_index;
uint8_t index_arr[8];
void decode_ar1271(char c,uint8_t index);

bool decode_mr72(int16_t c);
void data_process(void);
void sortA1(uint16_t  a[], uint8_t length);

extern void parse_ar1271_data(usart_data_t *usart_data)
{
    osSemaphoreAcquire(radar_parse_mutexHandle,30);

    for (int i = 0; i < usart_data->len; i++)
    {
        char c = usart_data->data[i];
        if(1){
            decode_mr72(c);
        }else{
            decode_ar1271(c,usart_data->usart_instance);
        }
    }
    data_process();
    osSemaphoreRelease(radar_parse_mutexHandle);
}

void decode_ar1271(char c,uint8_t index){
    static uint8_t buffer_count;
    static uint8_t buffer[LIDAR_360_SIZE] = {0};
    static uint8_t message_count;
        if ('T' == c)
        {
            buffer_count = 0;
        }
        buffer[buffer_count++] = c;

        if (buffer_count == 2) //判断帧头2 应为前一句已经++ 故2
        {
            if (c != 'H')
            {
                buffer_count = 0;
            }
        }
        // we should always read 19 bytes THxxxxxxxxxxxxxxxxC
        if (buffer_count >= 20)
        {
            buffer_count = 0;
            // check if message has right CRC
            if (crc_crc8(buffer, 19) == buffer[19])
            {
                proximity_data_t proximity_data = {0};
                proximity_data.d0 = uint16_value(buffer[2], buffer[3]);
                proximity_data.d315 = uint16_value(buffer[4], buffer[5]);
                proximity_data.d45 = uint16_value(buffer[16], buffer[17]);

                if (index == 1)
                {
                    if (proximity1_queueHandle != NULL)
                    {
                        myOsMessageQueuePut(proximity1_queueHandle, &proximity_data, 0, 10);
                    }
                }
                else if (index == 2)
                {
                    if (proximity2_queueHandle != NULL)
                    {
                        myOsMessageQueuePut(proximity2_queueHandle, &proximity_data, 0, 10);
                    }
                }
            }
        }
}

bool decode_mr72(int16_t c)
{
    bool ret = false;
    static uint8_t decode_state;
    static uint8_t data_len = 0;
    static int8_t data_cnt;
    static int16_t value_b[8];
    int16_t temp = c;
    switch (decode_state)
    {
    case 0:
        if(temp == 0xAA)
            decode_state = 1;
        break;
    case 1:
        if(temp == 0xAA){
            decode_state = 2;
        }
        else
            decode_state = 0;
        break;
    case 2:
        if(temp == 0x0c){
            decode_state = 3;
        }
        else
            decode_state = 0;
        break;
    case 3:
        if(temp == 0x07){
            decode_state = 4;
            data_len = 8;
        }
        else
            decode_state = 0;
        break;
    case 4:
        data_cnt = 8 - data_len;
        if(data_cnt < 7){{
            value_b[data_cnt] = temp;
            data_len -= 1;
        }
        }else{
            decode_state = 5;
        }
        break;
    case 5:
        if(temp == 0x55){
            decode_state = 6;
        
        }
        else
            decode_state = 0;
        break;
    case 6:
        
        if(temp == 0x55){
            mr72_c_data.time_ms = HAL_GetTick();
            mr72_c_data.index = value_b[0];
            mr72_c_data.range_f = (value_b[2] * 256 + value_b[3]) * 0.01;
            mr72_c_data.range = uint16_value(value_b[2], value_b[3]);
            mr72_c_data.azimuth = (value_b[1] * 256 + value_b[4]) * 0.01 - 90;
            mr72_c_data.vrel = (value_b[5] * 256 + value_b[6]) * 0.05 - 35;
            mr72_c_data.rollcount = value_b[5] & 0x03;
            mr72_c_data.rcs = value_b[7] * 0.5 - 50;
            ret = true;
            if((last_range - mr72_c_data.range_f > 0.5)  || (last_range - mr72_c_data.range_f < -0.5)){
                bool had_index = false;
                for(uint8_t i=0; i<range_index; i++){
                    if(index_arr[i] == mr72_c_data.index){
                        had_index = true;
                        break;
                    }
                }
                last_range = mr72_c_data.range;
                if(range_index < 8 && !had_index){
                    range_arr[range_index] = mr72_c_data.range;
                    index_arr[range_index] = mr72_c_data.index;
                    range_index +=1;
                }  
        }
        }
        decode_state = 0;
        break;
    
    default:
        break;
    }

    return ret;
}

void data_process(void){
    
    if(mr72_c_data.time_ms - last_time_ms > 50 || HAL_GetTick() - last_time_ms > 150){
        if(last_time_ms != mr72_c_data.time_ms){
            last_time_ms = mr72_c_data.time_ms;
            // gcs().send_text(MAV_SEVERITY_INFO, "a:%d , %d, %d, %d, %d, %d, %d, %d",range_arr[0],range_arr[1],range_arr[2],range_arr[3],range_arr[4],range_arr[5],range_arr[6],range_arr[7]);
            sortA1(range_arr,8);
            proximity_t data;
            data.d0 = range_arr[0];
            data.d45 = range_arr[1];
            data.d90 = range_arr[2];
            data.d135 = range_arr[3];
            data.d180 = range_arr[4];
            data.d225 = range_arr[5];
            data.d270 = range_arr[6];
            data.d315 = range_arr[7];
            if (proximity1_queueHandle != NULL)
            {
                myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
            }
            for (uint8_t i = 0; i < 8; i++)
            {
                range_arr[i] = MAX_MR71_DIST_CM;
                index_arr[i] = 0;
            }

        }
        range_index = 0;
    }
}
void sortA1(uint16_t  a[], uint8_t length){
    uint8_t i, j;
    float temp;
    for(i = 0; i < length; ++i){
        for(j = i + 1; j < length; ++j){
            a[i] = a[i] == 0? MAX_MR71_DIST_CM:a[i];
            a[j] = a[j] == 0? MAX_MR71_DIST_CM:a[j];
            if(a[j] < a[i]){    //如果后一个元素小于前一个元素则交换
                temp = a[i];
                a[i] = a[j];
                a[j] = temp;
            }
        }
    }

}
static const uint8_t crc8_table[] = {
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
    0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
    0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
    0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
    0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
    0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
    0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
    0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
    0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
    0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
    0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
    0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
    0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
    0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
    0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
    0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
    0xfa, 0xfd, 0xf4, 0xf3};

uint8_t crc_crc8(const uint8_t *p, uint8_t len)
{
    uint16_t crc = 0x0;

    while (len--)
    {
        const uint16_t i = (crc ^ *p++) & 0xFF;
        crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
    }

    return crc & 0xFF;
}

uint16_t uint16_value(uint8_t h_byte, uint8_t l_byte)
{
    return (uint16_t)(h_byte << 8) | l_byte;
}

void request_QOAR1271_data(void)
{
    uint8_t send_data1[4] = {0x00, 0x11, 0x02, 0x4C};
    uint8_t send_data2[4] = {0x00, 0x31, 0x03, 0xE5};
    uint8_t send_data3[5] = {0x00, 0x52, 0x02, 0x01, 0xDF};
    uint8_t send_data4[5] = {0x00, 0x52, 0x03, 0x03, 0xC4};

    HAL_UART_Transmit_DMA(&huart1, send_data1, 4);
    osDelay(200);
    HAL_UART_Transmit_DMA(&huart1, send_data2, 4);
    osDelay(200);
    HAL_UART_Transmit_DMA(&huart1, send_data3, 5);
    osDelay(200);
    HAL_UART_Transmit_DMA(&huart1, send_data4, 5);
    osDelay(200);
}

void request_qoar1271_by_step(uint8_t step, uint8_t usart_index)
{
    usart_data_t send_data = {0};
    send_data.usart_instance = usart_index;
    if(USART_INSTANCE_U1 == usart_index)
    {
        last_rev_usart1_tick = HAL_GetTick();
    }
    else if(USART_INSTANCE_U2 == usart_index)
    {
         last_rev_usart2_tick = HAL_GetTick();
    }
    
    switch (step)
    {
    case 1:

        send_data.len = 4;
        send_data.data[0] = 0x00;
        send_data.data[1] = 0x11;
        send_data.data[2] = 0x02;
        send_data.data[3] = 0x4C;
        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 2:
        
        send_data.len = 4;
        send_data.data[0] = 0x00;
        send_data.data[1] = 0x31;
        send_data.data[2] = 0x03;
        send_data.data[3] = 0xE5;
        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 3:

        send_data.len = 5;
        send_data.data[0] = 0x00;
        send_data.data[1] = 0x52;
        send_data.data[2] = 0x02;
        send_data.data[3] = 0x01;
        send_data.data[4] = 0xDF;
        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    case 4:

        send_data.len = 5;
        send_data.data[0] = 0x00;
        send_data.data[1] = 0x52;
        send_data.data[2] = 0x03;
        send_data.data[3] = 0x03;
        send_data.data[4] = 0xC4;
        myOsMessageQueuePut(usart_send_queueHandle, &send_data, NULL, 0);
        break;
    default:
        break;
    }
}

void deal_send_data(usart_data_t *rev_data)
{

    if ((rev_data->data[0] == 0x00) &&
        (rev_data->data[1] == 0x11) &&
        (rev_data->data[2] == 0x02) &&
        (rev_data->data[3] == 0x4C))
    {
        request_qoar1271_by_step(2, rev_data->usart_instance);
    }
    else if ((rev_data->data[0] == 0x00) &&
             (rev_data->data[1] == 0x31) &&
             (rev_data->data[2] == 0x03) &&
             (rev_data->data[3] == 0xE5))
    {
        request_qoar1271_by_step(3, rev_data->usart_instance);
    }
    else if ((rev_data->data[0] == 0x00) &&
             (rev_data->data[1] == 0x52) &&
             (rev_data->data[2] == 0x02) &&
             (rev_data->data[3] == 0x01) )
    {
        request_qoar1271_by_step(4, rev_data->usart_instance);
    }
    else if ((rev_data->data[0] == 0x00) &&
             (rev_data->data[1] == 0x52) &&
             (rev_data->data[2] == 0x03) &&
             (rev_data->data[3] == 0x03) )
    {
    }
}