#include "global.th"
#include "command.th"
#include "config_work.th"
#include "braker.th"
#include "net.th"
#include "encoder.th"

static string cmdbuffer = "";
string pars[10];
int par_num;
void on_sock_inband() // обработка поступивших команд
{
	cmdbuffer += sock.getinband();
	unsigned char position = instr(1,cmdbuffer,chr(sock.endchar),1);
	while (position != 0){
		string cmdline = left(cmdbuffer,position);
		cmdbuffer = right(cmdbuffer,len(cmdbuffer)-position);
		d("{cmd} line: "+cmdline);
		unsigned char cmdlen = instr(1,cmdline,chr('='),1);
		if (cmdlen==0)
			cmdlen = instr(1,cmdline,chr('&'),1);
		string cmd = left(cmdline,cmdlen-1);
		string params = mid(cmdline,cmdlen+1,position-cmdlen-1);
//		d("{cmd}: "+cmd);
//		d("{cmd}.params: "+params);
		if (cmd =="systeminfo"){
			cmd_replay(cmd_systeminfo());
		}else if (cmd == "reset" || cmd == "reboot"){
			cmd_replay("{cmd} Rebooting...");
			cmd_reset();
		}else if (cmd == "ip"){
			cmd_replay(cmd_ip(params));
		}else if (cmd == "setbraker"){
			cmd_replay(cmd_setbraker(params));
		}else if (cmd == "setencoder"){
			cmd_replay(cmd_setencoder(params));
		}else if (cmd == "enc_calibrate_start"){
			cmd_replay(cmd_enc_calibre(params));
		}else if (cmd == "enc_set_windows"){
			cmd_replay(cmd_enc_set_windows(params));
		}else if (cmd == "debug_enc_level"){
			cmd_replay(cmd_debug_enc_level(params));
		}else if (cmd == "debug_relay_reply"){
			cmd_replay(cmd_debug_relay_reply(params));
		}else if (cmd == "debug_sensors"){
			cmd_replay(cmd_debug_sensors(params));
		}else if (cmd == "debug_showtime"){
			cmd_replay(cmd_debug_showtime(params));
		}else if (cmd == "enc_calibrate_end"){
			cmd_replay(cmd_enc_calibre("0"));
		}else {
				d("{cmd}: Unknown command: "+cmdline);
				cmd_replay("{cmd}: Unknown command - ["+cmdline+"]");
		}
		position = instr(1,cmdbuffer,chr(sock.endchar),1);
	}
}

string cmd_debug_sensors(string params){
	getParams(params);
	config.debug.SensorsLook = val(pars[0])>0;
	return "Debug sensors SET="+(config.debug.SensorsLook? "TRUE":"FALSE");
}

string cmd_debug_relay_reply(string params){
	getParams(params);
	config.debug.RelayReply = val(pars[0])>0;
	return "Debug sensors SET="+(config.debug.RelayReply? "TRUE":"FALSE");
}

string cmd_debug_enc_level(string params){
	getParams(params);
	config.debug.EncoderDebug= val(pars[0]);
	return "Debug encoder level SET="+str(config.debug.EncoderDebug);
}

string cmd_debug_showtime(string params){
	getParams(params);
	config.debug.ShowTime = val(pars[0])>0;
	return "Debug show time SET="+(config.debug.ShowTime? "TRUE":"FALSE");
}

string cmd_enc_set_windows(string params){
	getParams(params);
	config.EncoderCfg.windowWidth = val(pars[0]);
	return "Encoder window SET="+str(config.EncoderCfg.windowWidth);
}

void cmd_replay(string message){
	d(message);
	sock.setsendinband(chr(sock.escchar)+" "+message+chr(sock.endchar)+chr(13)+chr(10));
}

string cmd_setencoder(string params){
	string message;
	// setencoder=encoderpin,mode,interval,sensorspinoverdot
	// setencoder=4,1,50,1.2
	d("params: "+params);
	unsigned char n, p, num ;
	unsigned long t;
	string vals = "";
	n = 1;
	p = instr(1,params,",",1);
	while (p>0){
		vals+=chr(val(mid(params,n,n-p)));
		n = p+1;
		p = instr(n,params,",",1);
	}
	string port = mid(params,n,len(params)-n+1);
	d("port: "+port);
	string ports;
	n = 1;
	p = instr(1,port,".",1);
	while (p>0){
		ports+=chr(val(mid(port,n,n-p)));
		n = p+1;
		p = instr(n,port,".",1);
	}
	ports += chr(val(mid(port,n,len(port)-n+1)));
	config.EncoderCfg.encoderPort = vals[0];
	config.EncoderCfg.encoderMode = vals[1];
	config.EncoderCfg.encoderInterval = vals[2];
	config.EncoderCfg.workedPorts = ports;
	message = "Энкодер настроен: Порт: "+str(vals[0])+ ", Режим: "+str(vals[1])+ ", Интервал: "+str(vals[2])+ ", Рабочие порты: "+port;
	encoder_init();
	return message;
}
string cmd_enc_calibre(string params){
	int mode = val(left(params,1));
	enc_calibrate_mode(mode);
	if (mode >0){
		return "Запушена калибровка энкодера в режиме "+str(mode);
	}
	return "Остановлен режим калибровки энкодера. Среднее значение: " + str(enc_calibrate_result());
}
string cmd_systeminfo(){
	return "{ platform='"+ PLATFORM+"', version='" + VERSION + "', uptime=" + str(sys.timercountms)+" }";
}

void cmd_reset()
{
				d("{cmd} Rebooting...");
				unsigned int w = sys.timercount;
				while (sys.timercount - w < 2){
					doevents;
				}
				sock.close();
				w = sys.timercount;
				while (sys.timercount-w < 2){
					doevents;
				}
				sys.reboot();
}
string cmd_ip(string params)
{
	string result="";
	string vip = validate_id(params);
	if (vip != params){
		return "{cmd}.ip - Invalid IP: [ "+params+" ]";
	}
	
	unsigned char x = stor.setdata(ddval(vip),0);
	doevents;
	if (x == 4){
		config.IP = vip;
		config_save();
		result = ("{cmd}.ip set to [ " + ddstr(stor.getdata(1,4))+" ] after reboot");
		d(result);
		doevents;
	}
	else
	{
		sock.setsendinband(chr(sock.escchar)+" ERROR STORE IP "+chr(sock.endchar));
		doevents;
	}
	return result;
}
string cmd_setbraker(string params)
{
				unsigned char n, p, num ;
				unsigned long t;
				string vals = "";
				n = 1;
				p = instr(1,params,",",1);
				while (p>0){
					vals+=chr(val(mid(params,n,n-p)));
					n = p+1;
					p = instr(n,params,",",1);
				}
				num = vals[0];
//				BrakerConfig c = config.BRAKERS[num-1];
//				c.Enable = val(vals[1]) > 0;
//				string rrrr = right(params,len(params)-n+1);
//				if (c.Enable){
//					c.Relay= vals[1];
//					c.SensPort= vals[2];
//					c.DropPort= vals[3];
//					c.Timeout= (strtof(right(params,len(params)-n+1))*1000);
//				}
//				//braker_init(unsigned char number, unsigned char sensor, unsigned char drop, unsigned char relay, unsigned long timeout);
				unsigned long timeout = (strtof(right(params,len(params)-n+1))*1000);
				braker_init(num,vals[2],vals[3],vals[1],timeout);
				string message;
				if (vals[1]>0){
					message = "OK: Num="+str(num)+", Rel="+str(vals[1])+", Sens="+str(vals[2])+", Drop="+str(vals[3])+", Timeout="+ ftostr(timeout,FTOSTR_MODE_PLAIN,4)+" sec.";
				}else{
					message = "OK: Num="+str(num)+" DISABLED";
				}
				d(message);
				return message;
}

void getParams(string params){
	
	//d("params: "+params);
	unsigned char n, p, num  ;
	unsigned long t;
	string vals = "";
	par_num = 0;
	n = 1;
	p = instr(1,params,",",1);
	while (p>0){
		pars[par_num] = mid(params,n,n-p);
		n = p+1;
		par_num++;
		p = instr(n,params,",",1);
	}
	pars[par_num] = mid(params,n,len(params)-n+1);
	
}