/* =============================================================================
 * dr16.c - DT7 遥控器 + 图传键鼠数据解析
 * 输入:  usart3 整帧回调(18 字节,100000-8E1,每 14ms 一帧) --> dr16_parse()
 * 输出:  dr16 结构体(摇杆 364~1684 中值 1024 / 拨杆 1上2下3中 / 键鼠 /
 *        按键翻转边沿 key_push_*)/ dr16_status / dr16_start_flag
 * 边沿语义(与 legacy 一致): Q/E/Shift/Ctrl 按下瞬间翻转保持;鼠标右键按下瞬间置1
 * dr16_start_flag: 1-未连接 2-收到首帧(robot_cmd 借此触发云台角度复位)
 * 掉线:  dr16_offline() = 超过 DR16_OFFLINE_TIME_MS(25ms) 无帧
 * ========================================================================== */
#include "dr16.h"

dr16_t dr16;
uint8_t dr16_status = 0;
uint8_t dr16_start_flag = 1;
uint32_t dr16_last_tick = 0;
uint32_t dr16_frame_count = 0;

void dr16_parse(const uint8_t * data)
{
    uint8_t last_key_q = dr16.key_q;
    uint8_t last_key_e = dr16.key_e;
    uint8_t last_key_shift = dr16.key_shift;
    uint8_t last_key_ctrl = dr16.key_ctrl;
    uint8_t last_mouse_r = dr16.mouse_key_r;

    dr16.rc_r_RL = (((uint16_t)data[1] << 8) | data[0]) & 0x07FF;                      // B[0:10]
    dr16.rc_r_UD = (((uint16_t)data[2] << 5) | (data[1] >> 3)) & 0x07FF;              // B[11:21]
    dr16.rc_l_RL = (((uint16_t)data[4] << 10) | (((uint16_t)data[3] << 2) | (data[2] >> 6))) & 0x07FF;  // B[22:32]
    dr16.rc_l_UD = (((uint16_t)data[5] << 7) | (data[4] >> 1)) & 0x07FF;              // B[33:43]

    dr16.s2 = (data[5] >> 4) & 0x03;  // B[44:45]
    dr16.s1 = (data[5] >> 6) & 0x03;  // B[46:47]

    dr16.mouse_rl = (int16_t)(((uint16_t)data[7] << 8) | data[6]);      // B[48:63]
    dr16.mouse_du = (int16_t)(((uint16_t)data[9] << 8) | data[8]);      // B[64:79]
    dr16.mouse_wheel = (int16_t)(((uint16_t)data[11] << 8) | data[10]); // B[80:95]
    dr16.mouse_key_l = data[12];
    dr16.mouse_key_r = data[13];

    dr16.key_w = data[14] & 0x01;
    dr16.key_s = (data[14] >> 1) & 0x01;
    dr16.key_a = (data[14] >> 2) & 0x01;
    dr16.key_d = (data[14] >> 3) & 0x01;
    dr16.key_shift = (data[14] >> 4) & 0x01;
    dr16.key_ctrl = (data[14] >> 5) & 0x01;
    dr16.key_q = (data[14] >> 6) & 0x01;
    dr16.key_e = (data[14] >> 7) & 0x01;
    dr16.key_alpha1 = (data[14] >> 9) & 0x01;
    dr16.key_alpha2 = (data[14] >> 10) & 0x01;

    /* 原始按键字节。注意 data[14] 是 uint8_t:上面两条 >>9/>>10 恒为 0
     * (整型提升后 byte 值 <256,右移 9 位必然为 0),即 alpha 键从未被真正解析。
     * 官方 16 位 key_code 的高字节在 data[15],这里先原样存下来供诊断/后续解析。 */
    dr16.key_code_lo = data[14];
    dr16.key_code_hi = data[15];

    dr16.thumb_wheel = (int16_t)(((uint16_t)data[17] << 8) | data[16]);  // B[120:135]

    /* 按键边沿检测(legacy 语义:Q/E/Shift/Ctrl 按下翻转,鼠标右键按下瞬间置 1) */
    if (last_key_q == 0 && dr16.key_q == 1)
        dr16.key_push_q = !dr16.key_push_q;
    if (last_key_e == 0 && dr16.key_e == 1)
        dr16.key_push_e = !dr16.key_push_e;
    if (last_key_shift == 0 && dr16.key_shift == 1)
        dr16.key_push_shift = !dr16.key_push_shift;
    if (last_key_ctrl == 0 && dr16.key_ctrl == 1)
        dr16.key_push_ctrl = !dr16.key_push_ctrl;
    if (last_mouse_r == 0 && dr16.mouse_key_r == 1)
        dr16.mouse_key_push_r = 1;
    else
        dr16.mouse_key_push_r = 0;

    dr16_last_tick = HAL_GetTick();
    dr16_status = 1;
    dr16_frame_count++;

    /* 首次收到数据:置启动标志,触发云台角度复位(与 legacy Remote_StartFlag 语义一致) */
    if (dr16_start_flag == 1)
        dr16_start_flag = 2;
}

uint8_t dr16_offline(void)
{
    return (dr16_status == 0 || HAL_GetTick() - dr16_last_tick > DR16_OFFLINE_TIME_MS);
}