//
// Created by cfif on 05.05.23.
//
#include "MainModesArbiter_Private.h"

void Mma_Init(
        tMma *env,
        tGpios *gpios,
        tAdcs *adcs,
        tSerialPorts *serialPorts,
        tLinPorts *linPorts,
        tCanPorts *canPorts,
        tRtcs *rtcs
) {
    env->gpios = gpios;
    env->serialPorts = serialPorts;
    env->linPorts = linPorts;
    env->canPorts = canPorts;
    env->rtcs = rtcs;
    env->adcs = adcs;

    InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
    env->thread.id = 0;
}

static _Noreturn void Mma_Thread(tMma *env) {

    // Запуск устройства
    Mma_InitStage(env);

    can_rx_message_type frame_data;

    for (;;) {

        uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

        if (len > 0) {

            if (frame_data.id_type == FLEXCAN_ID_STD) {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_STD);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.standard_id);
            } else {
                CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_EXT);
                CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.extended_id);
            }


            env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 1000);
        }


        //uint8_t data[8] = {'1', '2', '3', '4', '5', '6', '7', '8'};
        //env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, data, 8, 0);

//        GpioPinSet(&env->gpios->Led.ledR, true);
        //SystemDelayMs(500);
//        GpioPinSet(&env->gpios->Led.ledR, false);

    }
}


void Mma_StartThread(tMma *env) {
    if (!env->thread.id) {
        env->thread.id = osThreadNew((osThreadFunc_t) (Mma_Thread), (void *) (env), &env->thread.attr);
    } else {
        osThreadResume(env->thread.id);
    }
}