//
// 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;
}

#include "ADC_Temp_KST45-14-2.h"

const char LOG_TASK_ARB[] = "Arb";

static _Noreturn void Mma_Thread(tMma *env) {

    // Запуск устройства
    Mma_InitStage(env);

    can_rx_message_type frame_data;

    uint32_t step = 0;
    int16_t temp = 0;

    for (;;) {

        SystemDelayMs(1000);

        if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
            temp = get_temperature_fast_KST45(env->adcTask0.ADC_Data[0]);
            osMutexRelease(env->adcTask0.access);
        }

        LoggerFormatInfo(&env->slog.logger, LOG_TASK_ARB, "Temp = %d", temp)

//        ADC_Start(ADC_INSTANCE_0);

/*
        if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {


            if (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE) {

                switch (step) {
                    case 0: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
                        ++step;
                        break;
                    }
                    case 1: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                        ++step;
                        break;
                    }
                    case 2: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
                        ++step;
                        break;
                    }
                    case 3: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
                        ++step;
                        break;
                    }

                    case 4: {
                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
                            ++step;
                        }
                        break;
                    }

                    case 5: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
                        ++step;
                        break;
                    }

                    case 6: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
                        ++step;
                        break;
                    }

                    case 7: {
                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
                            ++step;
                        }
                        break;
                    }

                    case 8: {
                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                        env->linTaskActuator0.linCommandActuator[0].POS = 8000;
                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
                        ++step;
                        break;
                    }

                    case 9: {
                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
                            ++step;
                        }
                        break;
                    }

                    default: {
                    }
                }


            }

            osMutexRelease(env->linTaskActuator0.access);
        }
*/
/*
        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);
        }
*/


    }
}


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);
    }
}