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

static string cmdbuffer = "";
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_reset());
			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_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);
	}
}

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

string cmd_setencoder(string params){
	return "Запущен режим калибровки энкодера";
}
string cmd_enc_calibre(string params){
	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;
}