/**
 * @author Rémi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file can_message.c
 */

#include "can_message.h"
#include "../middleware/can_interface.h"
#include "car.h"
#include "../app/factory/factory.h"

typedef union {
    struct {
        uint8_t byte0;
        uint8_t byte1;
        uint8_t byte2;
        uint8_t byte3;
    } separate;
    struct {
        uint32_t bytes;
    } full;
} BYTES_4;

void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
    switch(idSender){
        case 0: // Broadcast / Debug
            /*
            S   R   M
            0	1	0	CONTROL_SETUP               steeringMode        -                   -                   controlAliveTime
            0	1	1	CONTROL_SPEED_FACTOR        valHH               valH                valL                valLL
            0	1	2	CONTROL_POWER_FACTOR        valHH               valH                valL                valLL
            0	1	3	CONTROL_STEERING_FACTOR     valHH               valH                valL                valLL
            0	1	4	CONTROL_SECURITY_PARAM      maxSpeedFw          maxSpeedBw          -                   -
            0	1	5	CONTROL_SETUP_PARAM         displayAliveTime	steeringAliveTime
            0	1	6	CONTROL_SETUP_PARAM_JOY     joystickMode        joystickParam1      joystickParam2      joystickAliveTime
            0	1	7	CONTROL_SETUP_PARAM_DRIVE   driveAliveTime      driveSpeedTime      driveStopTime
            0	1	8	CONTROL_SETUP_PARAM_BATTERY batteryVoltTime     batteryCurrentTime  batteryEnergyTime   batteryAliveTime
            */
            if(idMsg == 0x0) { // CONTROL_SETUP
                
            }
            
            if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
                
            }
            
            if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
                
            }
            
            if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
                
            }
            
            if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
                
            }
            
            if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
                
            }
            
            if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
                //  joystickMode    joystickParam1  joystickParam2  joystickAliveTime
                BYTES_4 tmpData;
                tmpData.full.bytes = data;
                MEM_write_one_byte(MEMADD_JOYSTICK_MODE, tmpData.separate.byte0);
                MEM_write_one_byte(MEMADD_JOYSTICK_PARAM1, tmpData.separate.byte1);
                MEM_write_one_byte(MEMADD_JOYSTICK_PARAM2, tmpData.separate.byte2);
                MEM_write_one_byte(MEMADD_JOYSTICK_ALIVE_TIME, tmpData.separate.byte3);
                CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
                CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
                CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
                CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
                ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
                CM_JOY_SETUP(NULL);
                
            }
            
            if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
                
            }
            
            if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
                
            }

            break;
            
        case 2: // Joystick
            if(idMsg == 0x1) { // JOY_MESURE
                
            }
            
            if(idMsg == 0xF) { // JOY_ALIVE
                ALIVE_CHECKER_ISALIVE(ACjoy());
                if(ACjoy()->state == STAC_DEAD){
                    CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
                    CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
                    CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
                    CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
                    ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
                    ALIVE_CHECKER_emitBorn(ACjoy(), 0, 0);
                    ALIVE_CHECKER_emitReady(ACjoy(), 100, 0);
                }
            }
            break;
            
        case 3: // Display
            break;
            
        case 4: // Drive
            break;
            
        case 5: // Steering
            break;
            
        case 6: // Supply
            break;
            
        case 7: // Undefined
            break;
    }
}

void CM_CONTROLLER_ALIVE(void* p) {
    CAN_Send(0x0, 0xF, 0);
}

void CM_JOY_SETUP(void* p) {
    BYTES_4 joy;
    joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
    joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
    joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
    joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
    CAN_Send(2, 0, joy.full.bytes);
    
}
void CM_DISPLAY_SETUP(void* p) {
    
}

void CM_DISPLAY_SPEED(void* p) {
    
}

void CM_DISPLAY_DIRECTION(void* p) {
    
}

void CM_DRIVE_SETUP(void* p) {
    
}

void CM_DRIVE_POWER(void* p) {
    
}

void CM_STEERING_SETUP(void* p) {
    
}

void CM_STEERING_SET(void* p) {
    
}

void CM_SETUP_CONTROL(void* p) {
    
}