/****************************************************************************
 *
 * Copy right:   Qx.Chen jie
 * File name:    GpsTask.c
 * Description:  Gps处理任务
 * History:      2021-03-07
 *
 ****************************************************************************/
#include "bsp.h"
#include "bsp_custom.h"
#include "osasys.h"
#include "ostask.h"
#include "queue.h"
#include "ps_event_callback.h"
#include "app.h"
#include "cmisim.h"
#include "cmimm.h"
#include "cmips.h"
#include "sockets.h"
#include "psifevent.h"
#include "ps_lib_api.h"
#include "lwip/netdb.h"
//#include <cis_def.h>
#include "debug_log.h"
#include "slpman_ec616.h"
#include "plat_config.h"
#include "ec_tcpip_api.h"
#include "app.h"
#include "MainTask.h"
#include "GpsTask.h"
#include "TcpTask.h"
//全局变量区输入
extern volatile BOOL Sleep_flag; 
extern AppDataBody AppDataInfo;
extern UINT8 WorkFlag;
//全局变量区输出
UINT8 GpsData[20];
osMutexId_t GpsMutex = NULL;
//线程定义区
#define GPS_TASK_STACK_SIZE   								 (512)
static QueueHandle_t norGpsHandle = NULL;
static osThreadId_t gpsTaskHandle = NULL;
static StaticTask_t gpsTask = NULL;
static UINT8 gpsTaskStack[GPS_TASK_STACK_SIZE];

//函数声明区
void strdel(char * str,char c);
UINT32 location_handle(char *in1);

static void GpsTask(void* arg)
{
    gpsReqMsg msg;
	char *p=NULL;
	const char *delim = "\n";
	char *databuffer[14];
    UINT32 speedtemp;
    UINT32 latitude;
	UINT32 longitude;
    UINT16 direction;
    posGGAServiceStart(norGpsHandle);
    posGGAReset();
    if(GpsMutex == NULL)
    {
        GpsMutex = osMutexNew(NULL);
    }
    while(1)
    {
        //char temp[] = "$GNRMC,082626.000,A,2939.91801,N,10637.09500,E,0.543,30.254,261120,,,A,V*17";
        osStatus_t ret = osMessageQueueGet(norGpsHandle, &msg, 0, osWaitForever);
        if(ret==0)
        {
            if (msg.dataPtr)
            {	
                osStatus_t result = osMutexAcquire(GpsMutex, osWaitForever);//Gps数据锁	
                p = strtok(msg.dataPtr,delim);//将信息进行分割
                #ifdef USING_PRINTF1
                    printf("\nP msgptr data:%s\r\n",p);
                #endif
                p = strtok(p,",");//只取第1行的信息RMC
                //p = strtok(temp,",");//模拟测试
                if (strcmp(p,"$GNRMC")==0)
                {
                    UINT8 i=0;			
                    while (p)
                    {	
                        databuffer[i]=p;
                        p = strtok(NULL,",");
                        i++;;
                    }
                    if (strcmp(databuffer[1],"V")==0|strcmp(databuffer[2],"V")==0)
                    {
                        memset(GpsData,0x00,sizeof(GpsData));
                    }
                    else if (strcmp(databuffer[2],"A")==0)
                    {
                        GpsData[0] = 0x01;//有效，东经，北纬写定
                        GpsData[1] = 03;//卫星数目写入1
                        strdel(databuffer[3],'.');
                        strdel(databuffer[5],'.');
                        strdel(databuffer[7],'.');
                        speedtemp = atol(databuffer[7])*1852/1e5;//节换算单位，1节=1.852km每小时
                        GpsData[4] = (speedtemp>>8)&0xFF;
                        GpsData[5] = speedtemp&0xFF; 
                        latitude =location_handle(databuffer[3]);
                        GpsData[8] = latitude>> 24;
                        GpsData[9] = latitude>> 16;
                        GpsData[10] = latitude>> 8;
                        GpsData[11] = latitude;
                        longitude = location_handle(databuffer[5]);
                        GpsData[12] = longitude>>24;
                        GpsData[13] = longitude>>16;
                        GpsData[14] = longitude>>8;
                        GpsData[15] = longitude;

                        GpsData[6] = 0x03;
                        GpsData[7] = 0xE8;
                        if(speedtemp>=50)//大于5km/h才输出方位
                        {
                            direction = atol(databuffer[8]);
                            GpsData[2] = direction>>8;
                            GpsData[3] = direction;
                        }
                        else
                        {
                            GpsData[2] = 0xff;
                            GpsData[3] = 0xfe;
                        }
                        if(speedtemp>=30 && speedtemp<=1500 && WorkFlag==0x01)
                        {
                            AppDataInfo.appDataModify = true;
                            AppDataInfo.AccMileage = speedtemp/36 + AppDataInfo.AccMileage;
                            if(AppDataInfo.AccMileage>=0xfffffffe)
                            {
                                AppDataInfo.AccMileage = 0;
                            }

                        }
                        GpsData[16] = AppDataInfo.AccMileage>>24;
                        GpsData[17] = AppDataInfo.AccMileage>>16;
                        GpsData[18] = AppDataInfo.AccMileage>>8;
                        GpsData[19] = AppDataInfo.AccMileage;
                    }
                }
                osMutexRelease(GpsMutex);
            }
            if(msg.dataPtr)
                free(msg.dataPtr);
            msg.dataPtr=NULL;
        }
        if (Sleep_flag)
		{
            posGGAServiceStop();
			osThreadExit();
			break;
		}
    }
}
INT32 GpsTaskInit(void)
{

	if(norGpsHandle == NULL)
	{
		norGpsHandle = osMessageQueueNew(1,sizeof(gpsReqMsg), NULL);
		if(norGpsHandle == NULL)
			return 1;
	}
	if(gpsTaskHandle == NULL)
	{
		osThreadAttr_t task_attr;
		memset(&task_attr , 0 , sizeof(task_attr));
		task_attr.name = "GPS";
		task_attr.priority = osPriorityBelowNormal6;
		task_attr.cb_mem = &gpsTask;
		task_attr.cb_size = sizeof(StaticTask_t);
		task_attr.stack_mem = gpsTaskStack;
		task_attr.stack_size =GPS_TASK_STACK_SIZE;
		memset(& gpsTaskStack, 0xa5, GPS_TASK_STACK_SIZE);
		gpsTaskHandle = osThreadNew(GpsTask , NULL,&task_attr);
		if(gpsTaskHandle == NULL)
			return 1;
	}
	
	return 0;
}
/*----------------------------------------*/
// 字符串删除函数
void strdel(char * str,char c)
{
	char *p = str;
	while(*str)
	{
		if(*str!=c)
			*p++ = *str;
		str++;
	}
	*p = '\0';
}
UINT32 location_handle(char *in1)
{
	UINT32 location_temp;
	UINT32 location_degree;
	UINT32 location_min;
	location_temp = atol(in1);
	location_degree = location_temp/(1e7);
	location_degree = location_degree*(1e6);
	location_min = location_temp-location_degree*10;
	location_min = location_min/6;
	location_temp = location_degree+location_min;
	return location_temp;
}