#include "app_config.h"
#include "app_dependence.h"
#include "interface.h"

#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"

#include "sdrv_vic.h"
#include "app_ultrasonic.h"


// 定时器结构体
Timer ultrasonic_timer;
Timer ultrasonic_timer1;

uint16_t fornt_distance = 0;//mm

// 定时器信号处理函数
void ultrasonicTimer1Process(void *signal_id)
{
    (void)signal_id; // 标记变量为已使用，避免编译器警告
    
     printf("fornt distance = %d\n",fornt_distance);
      
    
    timerStart(&ultrasonic_timer1, 1000,1);    
}





// 定时器信号处理函数
void ultrasonicTimerProcess(void *signal_id)
{
    (void)signal_id; // 标记变量为已使用，避免编译器警告
    
    un_ultrasonic_output1.bit_data.node = ULTRASONIC_FRONT_NODE;
    un_ultrasonic_output1.bit_data.function_code = ULTRASONIC_READ;
    un_ultrasonic_output1.bit_data.register_address = REALTIME_DISTANCE_REG;
    un_ultrasonic_output1.bit_data.data = 0x100;
    publishMessage(&un_ultrasonic_output1, 1);
    
    timerStart(&ultrasonic_timer, 200,1);    
}

void ultrasonicInput(void *signal_id)
{
    if(signal_id == &un_ultrasonic_input1)
    {   
        fornt_distance = SWAP_ENDIAN_16(un_ultrasonic_input1.bit_data.data);//高低字节交换         
    }
}




// APP模块的初始化
void ultrasonicAppInit(void)
{
    // 初始化定时器
    timerInit(&ultrasonic_timer); 
    timerInit(&ultrasonic_timer1);     
    // 订阅定时器信号
    subscribe(&ultrasonic_timer, ultrasonicTimerProcess);
    subscribe(&ultrasonic_timer1, ultrasonicTimer1Process);    
    
    subscribe(&un_ultrasonic_input1, ultrasonicInput);    
    printf("ultrasonicAPP: initial OK %d\n",getCurrentTime());
    timerStart(&ultrasonic_timer, 200,1);
    timerStart(&ultrasonic_timer1, 1000,1);    
}