/*
 * Stub_SpeedSensor.c
 *
 *  Created on: May 14, 2018
 *      Author: avi
 */



#include <Container.h>
#include <DataDef.h>
#include <Drivers/FPGA/Motors_Driver/L6470.h>
#include <stdbool.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>

#include <PMR/Stubs/StubSpeedSensorResponse.pb-c.h>
#include <PMR/Stubs/StubSpeedSensorRequest.pb-c.h>

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_uart.h"

#include "MessageContainer.pb-c.h"

#include "Stub_Status.h"
#include "drivers/FPGA/FPGA.h"
#include "drivers/SPI/SPI_Comm.h"

#include "driverlib/ssi.h"
#include "drivers/SPI/SPI_Comm.h"
#include "drivers/FPGA/FPGA_SSI_Comm.h"
#include "Modules/Thread/Thread_ex.h"
#include <Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h>


#include "Modules/thread/thread.h"


void Stub_SpeedSensorRequest(MessageContainer* requestContainer)
{

    MessageContainer responseContainer;

    StubSpeedSensorRequest* request = stub_speed_sensor_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);

    StubSpeedSensorResponse response =   STUB_SPEED_SENSOR_RESPONSE__INIT;
/*
    FPGA_SSI_Speed_Sensor_Transnit();
    SysCtlDelay(100);

    response.speed = FPGA_SSI_Speed_Sensor_Receive();

*/
    response.speed = Calculate_Speed_Sensor_Velocity();
    response.has_speed = true;

    responseContainer = createContainer(MESSAGE_TYPE__StubSpeedSensorResponse, requestContainer->token, true, &response, &stub_speed_sensor_response__pack, &stub_speed_sensor_response__get_packed_size);

    //free(request);
    //-------------------------------------------------------------------------------------------
    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
    size_t container_size = message_container__pack(&responseContainer, container_buffer);
    free(responseContainer.data.data);
    SendChars((char*)container_buffer, container_size);
    //free(container_buffer);
    //free(requestContainer);
    stub_speed_sensor_request__free_unpacked(request,NULL);
}