/*
 * UART3_CMD_Handler.c
 *
 *  Created on: Sep 12, 2024
 *      Author: DashyFox
 */

#include "UART3_CMD_Handler.h"
#include "Print.h"
#include "RobotFunctions.h"
#include "EEPROM.h"

#define HIGHBIT(b) (((b)>>8)&0xff)
#define LOWBIT(b) ((b)&0xff)

extern CurrentInfo currentInfo;
extern InfoBlock infoBlock;

extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
		uint8_t data_length);

uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
	if (current_length < required_length) {
		print("Invalid length for command ");
		printNumber(cmd);
		print("  len = ");
		printNumber(current_length);
		print("\n");
		return 0;
	}
	return 1;
}

void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 8;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t shotIndx = dataPtr[1];

	Shot shot;
	shot.countRepeatShot = dataPtr[2];
	shot.speedRollerTop = dataPtr[3]+100;
	shot.speedRollerBottom = dataPtr[4]+100;
	shot.speedScrew = map(dataPtr[6], 0, 120, 0, 100);
	shot.rotationAxial = map(dataPtr[5], -99, 99, 0, 180);
	shot.rotationHorizontal = map(dataPtr[6], -99, 99, 90-45, 90+45);

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_Stop(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//120
void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	EEPROM_EARSE();

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//180
void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t res = currentInfo.state.isShooting;

	SendResponse(dataPtr[0], 0, &res, sizeof(res));
}

//200
void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
    const uint8_t MIN_PARAM_LENGTH = 3;
    if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
        return;

    ServoMap servo = dataPtr[1];
    ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
    int16_t newDef = (dataPtr[2] << 8) | dataPtr[3];
    newDef+=90; // from center

    if (newDef < 0) newDef = 0;
    if (newDef > 180) newDef = 180;

    int16_t maxDeviation = (currentServo->max > currentServo->def)
                           ? currentServo->max - currentServo->def
                           : currentServo->def - currentServo->min;

    currentServo->def = newDef;
    int16_t newMax = currentServo->def + maxDeviation;
    int16_t newMin = currentServo->def - maxDeviation;
    if (newMax > 180) newMax = 180;
    if (newMin < 0) newMin = 0;
    currentServo->max = newMax;
    currentServo->min = newMin;
    saveInfoBlock();

    SendResponse(dataPtr[0], 0, NULL, 0);
}

//204
void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
    const uint8_t MIN_PARAM_LENGTH = 1;
    if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
        return;

    ServoMap servo = dataPtr[1];
    ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];

    int16_t def = currentServo->def - 90; // offset from center

    uint8_t res[2];
    res[0] = HIGHBIT(def);
    res[1] = LOWBIT(def);
    SendResponse(dataPtr[0], 0, res, sizeof(res));
}


//201
void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
    const uint8_t MIN_PARAM_LENGTH = 3;
    if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
        return;

    ServoMap servo = dataPtr[1];
    uint16_t maxAngl = (dataPtr[2] << 8) | dataPtr[3];
    ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
    int16_t newMax = currentServo->def + maxAngl;
    int16_t newMin = currentServo->def - maxAngl;
    if (newMax > 180) newMax = 180;
    if (newMin < 0) newMin = 0;
    currentServo->max = newMax;
    currentServo->min = newMin;
    saveInfoBlock();
    SendResponse(dataPtr[0], 0, NULL, 0);
}


//202
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
    const uint8_t MIN_PARAM_LENGTH = 1;
    if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
        return;

    ServoMap servo = dataPtr[1];
    ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];

    uint8_t deviationToMax = currentServo->max > currentServo->def
                             ? currentServo->max - currentServo->def
                             : currentServo->def - currentServo->max;

    uint8_t deviationToMin = currentServo->def > currentServo->min
                             ? currentServo->def - currentServo->min
                             : currentServo->min - currentServo->def;

    uint8_t maxAngl = (deviationToMax > deviationToMin) ? deviationToMax : deviationToMin;

    uint8_t res[2];
    res[0] = HIGHBIT(maxAngl);
    res[1] = LOWBIT(maxAngl);
    SendResponse(dataPtr[0], 0, res, sizeof(res));
}


//203
void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 1;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	setPosDefaultSingle(dataPtr[1]);

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//206
void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 2;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	infoBlock.hwInfo.timings.preRun = (dataPtr[1] << 8) | dataPtr[2];
	saveInfoBlock();

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//207
void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t res[2];

	res[0] = HIGHBIT(infoBlock.hwInfo.timings.preRun);
	res[1] = LOWBIT(infoBlock.hwInfo.timings.preRun);

	SendResponse(dataPtr[0], 0, res, sizeof(res));
}

//210 !!!!!!!!
void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//211 !!!!!!!!!!!
void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t res[1];
//		res[0] = ;

	SendResponse(dataPtr[0], 0, res, sizeof(res));
}

//212
void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 1;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	infoBlock.hwInfo.motors.speed_Screw_min = dataPtr[1];
	saveInfoBlock();

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//215
void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t res[1];
	res[0] = infoBlock.hwInfo.motors.speed_Screw_min;

	SendResponse(dataPtr[0], 0, res, sizeof(res));
}

//214
void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 1;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t inv = dataPtr[1];

	infoBlock.hwInfo.servos[SERVO_AXIAL].invert = inv;
	infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert = inv;
	infoBlock.hwInfo.servos[SERVO_VERTICAL].invert = inv;

	saveInfoBlock();

	SendResponse(dataPtr[0], 0, NULL, 0);
}

//215
void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	uint8_t res[1];

	res[0] = (infoBlock.hwInfo.servos[SERVO_AXIAL].invert
			|| infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert
			|| infoBlock.hwInfo.servos[SERVO_VERTICAL].invert);

	SendResponse(dataPtr[0], 0, res, sizeof(res));
}

// 181
void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	typedef struct __attribute__((packed)) {
		uint8_t status;
		uint8_t macro_number;
		uint8_t program_number;
		uint8_t shot_number;
		uint8_t total_macro_done_HIGH;
		uint8_t total_macro_done_LOW;
		uint8_t total_program_done_HIGH;
		uint8_t total_program_done_LOW;
		uint8_t total_shot_done_HIGH;
		uint8_t total_shot_done_LOW;
	} StatusStruct;

	StatusStruct res;

	res.status = currentInfo.state.isShooting;
	res.shot_number = currentInfo.shot.index;
	res.program_number = currentInfo.program.index;
	res.macro_number = currentInfo.macro.index;

	res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.totalShots);
	res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.totalShots);

	res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.totalPrograms);
	res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.totalPrograms);

	res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
	res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);

	SendResponse(dataPtr[0], 0, (uint8_t*) &res, sizeof(res));
}

// 121
void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {
	const uint8_t MIN_PARAM_LENGTH = 0;
	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
		return;

	memset(&infoBlock.statInfo, 0x00, sizeof(infoBlock.statInfo));
	saveInfoBlock();

	SendResponse(dataPtr[0], 0, NULL, 0);
}