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/*
* Stub_Dancer.c
*
* Created on: May 7, 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/StubDancerPositionResponse.pb-c.h>
#include <PMR/Stubs/StubDancerPositionRequest.pb-c.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_uart.h"
#include "Drivers/USB_Communication/USBCDCD.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 "Modules/thread/thread.h"
void Stub_DancerPositionRequest(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
StubDancerPositionRequest* request = stub_dancer_position_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
StubDancerPositionResponse response = STUB_DANCER_POSITION_RESPONSE__INIT;
response.dancer_id = request->dancer_id;
response.has_dancer_id = true;
#ifdef FOUR_WINDERS
Dancers_4_Winders Dancer_Id = (Dancers_4_Winders)request->dancer_id;//to remove warning
#else
HardwareDancerType Dancer_Id = (HardwareDancerType)request->dancer_id;//to remove warning
#endif
if(Dancer_Id < NUM_OF_ROTENC)
{
FPGA_SSI_Transmit(Dancer_Id);
SysCtlDelay(1000);
FPGA_SSI_Receive(Dancer_Id);
response.position = DANCER_ENC[request->dancer_id].Position;
response.has_position = true;
response.general_status = DANCER_ENC[request->dancer_id].Gen_status;
response.has_general_status = true;
response.detailed_status = DANCER_ENC[request->dancer_id].Det_status;
response.has_general_status = true;
StoreDancerConfigMessage(Dancer_Id);
}
else if(Dancer_Id < NUM_OF_ROTENC*2)
{
int Dancer = Dancer_Id - NUM_OF_ROTENC;
response.position = DancersCfg[Dancer].zeropoint;
response.has_position = true;
response.general_status = DANCER_ENC[Dancer].Gen_status;
response.has_general_status = true;
response.detailed_status = DANCER_ENC[Dancer].Det_status;
response.has_general_status = true;
}
else
{
response.detailed_status = ERROR; // use the Reserved bits to send our errors
response.has_general_status = true;
}
responseContainer = createContainer(MESSAGE_TYPE__StubDancerPositionResponse, requestContainer->token, true, &response, &stub_dancer_position_response__pack, &stub_dancer_position_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_dancer_position_request__free_unpacked(request,NULL);
}
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