#include "protocol.h"

protocol_device_t protocol_device;

flash_settings_t protocol_settings;

void protocol_init(protocol_device_t device)

{

    protocol_device = device;

    flash_restore(&protocol_settings);

    can_init(protocol_settings.val.can_id, DEFAULT_BROADCAST_ID);

}

bool protocol_send_test()

{

    bool result = true;

    can_send_test(protocol_settings.val.can_id | 0x00000001);

    return result;

}

bool protocol_receive_message(CanRxMsgTypeDef* can_message)

{

    bool result = true;

    protocol_message_t message;

    message.command = can_message->Data[0] & 0x80;

    message.id = can_message->Data[0] & 0x7F;

    message.key = (can_message->Data[1] << 8) & can_message->Data[2];

    message.sensor = can_message->Data[3];

    message.data.byte_data[0] = can_message->Data[4];

    message.data.byte_data[1] = can_message->Data[5];

    message.data.byte_data[2] = can_message->Data[6];

    message.data.byte_data[3] = can_message->Data[7];

    protocol_process_message(&message);

    return result;

}

bool protocol_send_message(protocol_message_t* message)

{

    bool result = true;

    uint8_t data[8];

    data[0] = (message->command & 0x80) & (message->id & 0x7F);

    data[1] = (message->key >> 8) & 0xFF;

    data[2] = (message->key >> 0) & 0xFF;

    data[3] = message->sensor;

    data[4] = (message->data.byte_data[0] >> 24) & 0xFF;

    data[5] = (message->data.byte_data[1] >> 16) & 0xFF;

    data[6] = (message->data.byte_data[2] >> 8) & 0xFF;

    data[7] = (message->data.byte_data[3] >> 0) & 0xFF;

    can_send(protocol_settings.val.can_id | 0x00000001, CAN_ID_STD, 8, data);

    return result;

}

bool protocol_process_message(protocol_message_t* message)

{

    bool result = true;

    if (message->command)

    {

        switch(message->id)

        {

            case ESTOP:

                {

                    //call estop weak function

                    result = protocol_estop(message->data.float_data!=0.0f);

                }

                break;

            case SILENCE_BUS:

                {

                    //silence can bus

                    result = can_silence_bus(message->data.float_data!=0.0f);

                }

                break;

            case SET_OUTPUT:

                {

                    //call set output weak function

                    result = protocol_set_output(message);

                }

                break;

            case GET_DATA:

                {

                    //call get data weak function

                    result = protocol_get_data(message);

                }

                break;

            case CONFIG:

                {

                    //call config weak function

                    result = protocol_config(message);

                }

                break;

        }

    }

    return result;

}

bool protocol_send_data(protocol_data_key_t key, uint8_t sensor, float data)

{

    bool result = true;

    protocol_message_t message;

    message.command = false;

    message.id = protocol_device;

    message.key = key;

    message.sensor = sensor;

    message.data.float_data = data;

    result = protocol_send_message(&message);

    return result;

}

__weak bool protocol_estop(bool value)

{

    return false;

}

__weak bool protocol_set_output(protocol_message_t* message)

{

    return false;

}

__weak bool protocol_get_data(protocol_message_t* message)

{

    return false;

}

__weak bool protocol_config(protocol_message_t* message)

{

    return false;

}