#include "cJSON.h"
#include "cJSON_Utils.h"
#include "driver/gpio.h"
#include "driver/timer.h"
#include "driver/uart.h"
#include "esp_log.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "freertos/task.h"
#include "nvs_flash.h"
#include "string.h"
//
#include "ble_spp_server_demo.h"
#include "motor_drive.h"

#define MAIN_LOG_TAG "MAIN"
#define ble_uart_tx_size 128
#define ble_uart_rx_size 128
static uint8_t bluetooth_tx_buffer[ble_uart_tx_size] = {0};
static uint8_t bluetooth_rx_buffer[ble_uart_rx_size] = {0};
bleuart_t ble_uart_init_struct = {
    .txbuf = bluetooth_tx_buffer,
    .txbufsize = sizeof(bluetooth_tx_buffer),
    .rxbuf = bluetooth_rx_buffer,
    .rxbufsize = sizeof(bluetooth_rx_buffer),
    .rxpacketReceiveOvertime = 200,
    .receive_data_processing_flag = false,
    .maxClientNum = 1,
    .bleName = "yimei_ble",
};
motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};

void process_setPosition(cJSON *rxjson) {
  // { "order": "setPosition", "index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
  int index = 0;
  int speedLevel = 0;
  float position = 0;
  int direction = 0;
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) {
    position = cJSON_GetObjectItem(rxjson, "position")->valuedouble;
  }
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
    index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
  }
  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "speedLevel"))) {
    speedLevel = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "speedLevel"));
  }

  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
    direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
  }
  motor_run_to_postion(1, position, index);
}

void processrxjson(cJSON *rxjson) {
  if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
    return;
  }

  const char *order = cJSON_GetStringValue(cJSON_GetObjectItem(rxjson, "order"));

  if (strcmp(order, "setPosition") == 0) {
    process_setPosition(rxjson);
  } else if (strcmp(order, "getStatus") == 0) {
  }
}

void blerxcb(uint8_t *rxmessage, size_t rxsize) {
  rxmessage[rxsize] = 0;
  cJSON *rxmessage_json = cJSON_ParseWithLength((char *)rxmessage, rxsize);
  if (rxmessage_json == NULL) {
    ESP_LOGE(MAIN_LOG_TAG, "cJSON_Parse fail rxmessage_json == null,%s", cJSON_GetErrorPtr());
    return;
  }
  processrxjson(rxmessage_json);
  cJSON_Delete(rxmessage_json);
}

void motor_on_event(motor_event_t event) {
  //打算使用sprintf
  if (event == kRunToPosition) {
    ESP_LOGI(MAIN_LOG_TAG, "kRunToPosition ok!");

    uint8_t buffer[128] = {0};
    //组包
    //上报
    //{ "order": "deviceStatusReport", "index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": "", }
    sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": 0, \"info\": \"success\", \"index\": %d }", 0);
    bleuart_notify_send(buffer,sizeof(buffer));
  }
}

void app_main(void) {
  bleuart_init(&ble_uart_init_struct);
  bleuart_reg_cb(blerxcb);

  motor_init(&ble_uart_motor_structer);
  motor_reg_event_cb(motor_on_event);

  while (true) {
    bleuart_schedule();
    motor_module_schedule();
  }
}