#include "master_machine.h"

VisionData_t vision_data;

static USARTInstance *cv_usart_instance;
static DaemonInstance *vision_daemon_instance;

static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
{
    uint8_t sum = 0;
    for (uint8_t i = 0; i < len - 1; i++)
        sum += buf[i];
    return sum;
}

static void DecodeVision()
{
    DaemonReload(vision_daemon_instance);

    static uint32_t counter;
    float dt = DWT_GetDeltaT(&counter);
    vision_data.frequency = 1.0f / dt;

    uint8_t *buf = cv_usart_instance->recv_buff;
    uint16_t len = cv_usart_instance->recv_buff_size;
    uint8_t sof = buf[0];

    if (sof == VISION_SOF_AUTO && len == VISION_AUTO_LEN)
    {
        if (calc_checksum(buf, VISION_AUTO_LEN) != buf[VISION_AUTO_LEN - 1])
            return;
        memcpy(&vision_data.error_x, buf + 1, 4);
        memcpy(&vision_data.error_y, buf + 5, 4);
        vision_data.auto_updated = 1;
    }
    else if (sof == VISION_SOF_MANUAL && len == VISION_MANUAL_LEN)
    {
        if (calc_checksum(buf, VISION_MANUAL_LEN) != buf[VISION_MANUAL_LEN - 1])
            return;
        vision_data.zero_force = buf[1];
        memcpy(&vision_data.yaw_ref,   buf + 2, 4);
        memcpy(&vision_data.pitch_ref, buf + 6, 4);
        vision_data.manual_updated = 1;
    }
    else if (sof == VISION_SOF_CMD && len == VISION_CMD_LEN)
    {
        if (calc_checksum(buf, VISION_CMD_LEN) != buf[VISION_CMD_LEN - 1])
            return;
        vision_data.cmd = buf[1];
        vision_data.cmd_pending = 1;
    }
}

static void VisionOfflineCallback(void *id)
{
    (void)id;
    USARTServiceInit(cv_usart_instance);
}

void Vision_Uart_Init(UART_HandleTypeDef *_handle)
{
    USART_Init_Config_s conf = {
        .module_callback = DecodeVision,
        .recv_buff_size  = 64,
        .usart_handle    = _handle,
    };
    cv_usart_instance = USARTRegister(&conf);

    Daemon_Init_Config_s daemon_conf = {
        .callback     = NULL,
        .owner_id     = NULL,
        .reload_count = 10,
    };
    vision_daemon_instance = DaemonRegister(&daemon_conf);
}