#include "soft_port_uart4.h"
#include "control_attitude.h"
#include "control_rate.h"
#include "data_save.h"
#include "drv_usart.h"
#include "my_math.h"
#include "params.h"
#include "payload.h"
#include "soft_gs.h"
#include "soft_imu.h"
#include "soft_time.h"
#include "soft_usharpradar.h"
#include "string.h"
#include "ver_config.h"
// 硬件未链接
struct _uart_device *payload_uart = NULL;

// 选择串口 4 设备
Port4PayloadType port4_payload_type = PORT4_PAYLOAD_NONE;

// 串口 4 接收到的数据
struct port4_rx_data port4_data;

// 串口 4 吊舱
static struct payload_diaocang _port4_payload_diaocang = {0};

// 串口 4 遥控遥测
struct GCS_Link p4_gcs_link =
    {
        .link_protocal_type =
            GCS_LINK_PROTOCAL_TYPE_VKLINK, /* 默认使用 VKLINK 协议 */
        .vklink_protocal_version = 300,    /* 默认 vklink v300 版本 */
        .link_status = COMP_NOEXIST,       /* 默认状态是未连接地面站 */
};

struct payload_diaocang *port4_get_payload(void)
{
    return &_port4_payload_diaocang;
}

// @brief 串口 4 初始化
void port_uart4_initial(void)
{
    // port4_payload_type = params_get_value(ParamNum_Port4Multiplexing);
    port4_payload_type = PORT4_YUNYIV8;
    memset(&_port4_payload_diaocang, 0, sizeof(_port4_payload_diaocang));
    _port4_payload_diaocang._link_status = COMP_NOEXIST;

    uint32_t baudrate = 115200;

    switch (port4_payload_type)
    {
    case PORT4_PAYLOAD_DATALINK:
        p4_gcs_link.uart = uart_find("uart4");
        baudrate = 115200;
        break;
        break;

    default:
        baudrate = 115200;
        break;
    }

    // uart4_init(baudrate);
    payload_uart = uart_find("uart4");
    if (payload_uart)
    {
        payload_uart->ops->init(baudrate);
    }
}

// @brief 获取串口 4 复用功能
Port4PayloadType port4_get_af_config(void) { return port4_payload_type; }

/**
 * @brief 地面站串口中断发送数据
 *
 * @param data
 * @param len
 * @return uint32_t
 */
uint32_t payload_port_tx_data(const uint8_t *data, uint32_t len)
{
    uint32_t ret = 0;
    if (payload_uart)
    {
        ret = payload_uart->ops->write(data, len);
    }

    return ret;
}

void Port4_Service(void)
{
    // static uint32_t lastSendMsgTime = 0;
    uint8_t ch = 0;

    switch (port4_payload_type)
    {
    case PORT4_PAYLOAD_NONE:
        while (payload_uart->ops->read(&ch, 1) == 1)
        {
            port4_data.data[port4_data.len] = ch;
            port4_data.len++;
            if (port4_data.len > sizeof(port4_data.data))
                break;
        }

        if (port4_data.len)
        {
            gs_send_payload_msg(&gcs_link, port4_data.data, port4_data.len);
            port4_data.len = 0;
        }
        break;

    case PORT4_PAYLOAD_DATALINK:
        gs_receive_msg_poll(&p4_gcs_link);
        gs_send_msg_poll(&p4_gcs_link);
        break;

    default:
        break;
    }
}