#include "bluetooth.h"
#include "usart.h"
#include "control.h"
#include "stdio.h"

#define BUFFER_SIZE 100
#define MESSAGE_SIZE 19
#define CMD_NUM 9

static uint8_t rxBuffer[BUFFER_SIZE], rxSize;
static uint8_t txBuffer[BUFFER_SIZE], txSize;
static uint8_t cmdIndex;

void BLUETOOTH_Init(void)
{
    rxSize = 0;
    HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
}

void receiveCmd()
{
    // 通用协议
    if (rxBuffer[2] == ',')
    {
        cmdIndex = 0;
        for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
            if (rxBuffer[i] == '0')
                ++cmdIndex;
            else
                break;
        if (cmdIndex == CMD_NUM)
            cmdIndex = 0;
        CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
    }
    else
    {
        static uint16_t num[6];
        switch (rxBuffer[5])
        {
            // 机械手
        case 'S':
            break;
            // 舵机云台
        case 'P':
            break;
            // 七彩灯
        case 'C':
            sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
            CONTROL_RGB(num[0], num[1], num[2]);
            break;

            // 模式选择
        case 'M':
            sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
            CONTROL_Mode(num[0] - '0', num[1] - '0');
            break;
        }
    }
    HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart == &huart2)
    {
        if (rxSize && rxBuffer[rxSize] == '#')
        {
            if (++rxSize > 10)
                receiveCmd();
            BLUETOOTH_Init();
        }
        else if (rxSize++ == 0 && rxBuffer[0] == '$')
            HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1);
    }
}