//
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// Created by YY on 2022/11/14.
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//
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#include "ahp.h"
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#include "../common/string_util.h"
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#include "../common/serial_port.h"
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#include "mcu_if.h"
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#include "dfu.h"
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#include "../jni_log.h"
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#include "../defs.h"
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#include "../rtk_module/parse_gps.h"
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#define DEBUG(fmt, args...) LOGD("<ahp> <%s>: " fmt, __func__, ##args)
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static Dfu *dfu = nullptr;
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static uint8_t RxBuf[4096];
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static int RxBufLen = 0;
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static SerialPort *pCls = nullptr;
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static void AhpCommandEntry(uint16_t id, const uint8_t *data, int length) {
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switch (id) {
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case ID_AHP_INFO_RESP: {
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aph_info_t info;
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info.version = StringUtil::BuffertoString(data, 8);
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info.sn = StringUtil::BcdBuffertoString(data + 8, 8);
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break;
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}
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case ID_AHP_DFU_RESP: {
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if (dfu != nullptr) {
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dfu->RemoteAck(data, length);
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}
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break;
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}
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case ID_GNSS_DATA: {
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// DEBUG("ID_GNSS_DATA %d", length);
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memcpy(RxBuf + RxBufLen, data, length);
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RxBufLen += length;
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// std::string out = StringUtil::BuffertoString(RxBuf, RxBufLen);
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// DEBUG("%s", out.c_str());
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const uint8_t *ptr = parseGPS(RxBuf, RxBuf + RxBufLen);
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if (ptr != RxBuf) {
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memcpy(RxBuf, ptr, RxBufLen - (ptr - RxBuf));
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RxBufLen -= ptr - RxBuf;
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} else if (RxBufLen == sizeof(RxBuf)) { //填满了，且没有一个\r，都抛弃
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DEBUG("Parse GPS error");
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RxBufLen = 0;
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}
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break;
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}
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default:break;
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}
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}
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#define PARSE_BUFF_SIZE 4096
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static void UartThread(void *p) {
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struct serial_config *cfg = (struct serial_config *) p;
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pCls = new SerialPort(*cfg);
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int res = pCls->InitSerialPort();
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DEBUG("Serial %s open %d", cfg->name, res);
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uint8_t RxBuf[PARSE_BUFF_SIZE];
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int RxBufLen = 0;
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ParseUart parse(AhpCommandEntry);
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while (res == 0) {
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int ul = pCls->ReadSerialPort((uint8_t *)RxBuf + RxBufLen, sizeof(RxBuf) - RxBufLen);
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if (ul < 0) {
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continue;
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} else if (ul == 0) {
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// usb串口断开
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break;
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}
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RxBufLen += ul;
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/*{
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static char buffd[16384];
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buffd[0] = 0;
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int i = 0;
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for (i = 0; i < ul; i++) {
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if ((i % 32) == 0) {
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sprintf(buffd + strlen(buffd), "\n");
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}
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sprintf(buffd + strlen(buffd), "%02X ", RxBuf[i]);
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if (strlen(buffd) > 800) {
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DEBUG("%s <- %s...", "UART", buffd);
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buffd[0] = 0;
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}
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}
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if (strlen(buffd) > 0)
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DEBUG("%s <- %s", "UART", buffd);
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}*/
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if (RxBufLen > 0) {
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// DEBUG("RECV LEN %d", RxBufLen);
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parse.ParseMcu(RxBuf, RxBufLen);
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RxBufLen = 0;
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}
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}
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delete pCls;
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pCls = nullptr;
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}
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static void AhpRun(void)
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{
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static struct serial_config serialConfig;
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strcpy(serialConfig.name, "/dev/ttyCH341USB3");
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serialConfig.baud = 115200;
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serialConfig.data_bit = 8;
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serialConfig.verify_bit = 'N';
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serialConfig.stop_bit = 1;
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serialConfig.flow_ctrl = 0;
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while (true) {
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std::thread t(UartThread, &serialConfig);
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t.join();
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std::this_thread::sleep_for(std::chrono::seconds(3));
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}
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}
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void InitAhp(void)
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{
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// TODO
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std::thread(AhpRun).detach();
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}
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static void SendDfuFile(int fileLen, int sentLen, int blockLen, const uint8_t *data) {
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uint8_t buffer[1024];
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int x = 0;
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DEBUG("SendDfuFile fileLen %d sentLen %d blockLen %d", fileLen, sentLen, blockLen);
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buffer[x++] = BREAK_UINT32(fileLen, 3);
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buffer[x++] = BREAK_UINT32(fileLen, 2);
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buffer[x++] = BREAK_UINT32(fileLen, 1);
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buffer[x++] = BREAK_UINT32(fileLen, 0);
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buffer[x++] = BREAK_UINT32(sentLen, 3);
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buffer[x++] = BREAK_UINT32(sentLen, 2);
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buffer[x++] = BREAK_UINT32(sentLen, 1);
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buffer[x++] = BREAK_UINT32(sentLen, 0);
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buffer[x++] = HI_UINT16(blockLen);
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buffer[x++] = LO_UINT16(blockLen);
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memcpy(buffer + x, data, blockLen);
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x += blockLen;
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SendMcuCommand(pCls, &SerialPort::WriteSerialPort, ID_AHP_DFU_UPLOAD, buffer, x);
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}
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void EnterAhpDfu(const uint8_t *file, int length)
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{
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if (dfu != nullptr) {
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delete dfu;
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}
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dfu = new Dfu(SendDfuFile, file, length);
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dfu->Run();
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delete dfu;
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dfu = nullptr;
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}
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void WriteRtkCommand(const char *data, int length)
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{
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DEBUG("发送RTK命令 %s", StringUtil::BuffertoString((uint8_t *)data, length).c_str());
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SendMcuCommand(pCls, &SerialPort::WriteSerialPort, ID_CTRL_CMD, reinterpret_cast<const uint8_t *>(data), length);
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}
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