#include "main.h"
#include "can.h"
#include "gpio.h"
#include "CToC.h"
#include "RefreeSystem.h"
#include "Remote.h"
#include "M3508.h"



static CAN_TxHeaderTypeDef TxMessage;
static uint8_t DATE_CAIPAN[8];
uint8_t CToC_SlaveSendRefereeSystemData(void)
{
	uint32_t send_mail_box;
	TxMessage.StdId=CToC_MasterID1;
	TxMessage.IDE = CAN_ID_STD;
  TxMessage.RTR = CAN_RTR_DATA;
	TxMessage.DLC=0x08;
	DATE_CAIPAN[0]=RefereeSystem_ShooterStatus;
	DATE_CAIPAN[1]=0;
	DATE_CAIPAN[2]=0;
	DATE_CAIPAN[3]=0;
	DATE_CAIPAN[4]=0;
	DATE_CAIPAN[5]=0;
	DATE_CAIPAN[6]=0;
	DATE_CAIPAN[7]=0;

HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage,DATE_CAIPAN, &send_mail_box);
if (status != HAL_OK) {
    return 0; 
}

uint16_t i = 0;
while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
    i++;
}
if (i >= 0xFFF) {
    return 0; 
}
    return 1;  
}



void can_filter_init(void)
{
    CAN_FilterTypeDef can_filter_st;
    
    // ==================== CAN1 ?? ====================
    // CAN1??ID 
    can_filter_st.FilterActivation = ENABLE;
    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter_st.FilterIdHigh = 0x0000;        // ??ID
    can_filter_st.FilterIdLow = 0x0000;
    can_filter_st.FilterMaskIdHigh = 0x0000;
    can_filter_st.FilterMaskIdLow = 0x0007;          // ??ID 
    can_filter_st.FilterBank = 0;
    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
    can_filter_st.SlaveStartFilterBank = 14;         // CAN2??14???
    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

    // ==================== CAN2 ?? ====================
    // CAN2??ID 0x200-0x207???
   can_filter_st.FilterIdHigh = 0;    // ?????ID
   can_filter_st.FilterIdLow = 0;     // ?????ID
   can_filter_st.FilterMaskIdHigh = 0;      // ???????ID
   can_filter_st.FilterMaskIdLow = 0;       // ???????ID 
    can_filter_st.FilterBank = 14;                   // CAN2??????14
    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
    HAL_CAN_Start(&hcan2);
    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}


Remote_Data Remote_RxData;

void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
{
	if(ID==CToC_SlaveID1)//?????????
	{
		Remote_RxData.Remote_R_RL=(uint16_t)((uint16_t)Data[0]<<8 | Data[1]);//?????
		Remote_RxData.Remote_R_UD=(uint16_t)((uint16_t)Data[2]<<8 | Data[3]);//?????
		Remote_RxData.Remote_L_RL=(uint16_t)((uint16_t)Data[4]<<8 | Data[5]);//?????
		Remote_RxData.Remote_L_UD=(uint16_t)((uint16_t)Data[6]<<8 | Data[7]);//?????
	}
	else if(ID==CToC_SlaveID2)//?????????
	{
		Remote_Status=Data[0];//???????
		Remote_RxData.Remote_RS=Data[1];//?????????
		Remote_RxData.Remote_KeyPush_Ctrl=Data[2];//??Ctrl??
		Remote_RxData.Remote_KeyPush_Shift=Data[3];//??Shift??
		Remote_StartFlag=Data[4];//????????
		Remote_RxData.Remote_LS=Data[5];//?????????
	}
}

/**
 * @brief 更新电机测量数据到控制器
 * @param motor_id: 电机ID (0-3)
 * @param measure: 电机测量数据指针
 */

void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure)
{
    if (motor_id < 4) {
        // 直接结构体赋值（更简洁）
        motor_controller[motor_id].measure = *measure;
    }
}


 //can传回参数结构体定义
// CAN2接收回调函数
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    CAN_RxHeaderTypeDef rx_header;
    uint8_t rx_data[8];
    
    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
    
    // 判断是CAN1还是CAN2
    if (hcan->Instance == CAN1) {
        // CAN1处理电机数据 (ID 1-4)
        switch (rx_header.StdId) {
            case 1: case 2: case 3: case 4: {
                static uint8_t i = 0;
                i = rx_header.StdId - 1;
                get_motor_measure(&motor_chassis[i], rx_data);
                Update_Motor_Measure(i, &motor_chassis[i]);
                break;
            }
            default:
                break;
        }
    }
    else if (hcan->Instance == CAN2) {
        // CAN2处理板间通信数据
        CToC_CANDataProcess(rx_header.StdId, rx_data);
    }
}
//HAL库接收函数HAL_CAN_GetRxMessage
HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);