#include "jj_param.h"
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"

#include <math.h>

#define LINE_HEAD 0
#define LINE_END  DATA_NUM - 2
static char Text[]        = "dParam";
static int8_t Curser      = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
/***************************************************************************************
 *
 *                                  以下为页面模板函数
 *
 ***************************************************************************************/
/**
 * @brief  页面初始化事件
 * @param  无
 * @retval 无
 */
static void Setup()
{
    ips200_clear();
    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}

/**
 * @brief  页面退出事件
 * @param  无
 * @retval 无
 */
static void Exit()
{
}

/**
 * @brief  页面循环执行的内容
 * @param  无
 * @retval 无
 */
static void Loop()
{
    ips200_show_string(0, 0, "sta:");
    ips200_show_float(80, 0, in_state, 4, 1);
    ips200_show_string(0, 20, "outsp:");
    ips200_show_float(80, 20, out_speed, 4, 1);
    ips200_show_string(0, 40, "angle");
    ips200_show_float(80, 40, in_angle, 4, 1);
    ips200_show_string(0, 60, "accz");
    ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1);
    ips200_show_string(0, 80, "accy");
    ips200_show_float(80, 80, (float)imu660ra_acc_y, 4, 2);
    ips200_show_string(0, 100, "speed");
    ips200_show_float(80, 100, in_speed, 4, 4);
    ips200_show_string(0, 120, "outang");
    ips200_show_float(80, 120, out_angle, 4, 1);
    ips200_show_string(0, 140, "outgyr");
    ips200_show_float(80, 140, out_gyro, 4, 1);
    ips200_show_string(0, 160, "outpos");
    ips200_show_float(80, 160, out_pos, 4, 1);

    // ips200_show_string(0, 180, "ls");
    // ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
    // ips200_show_string(0, 200, "rs");
    // ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
    // ips200_show_string(0, 220, "lb");
    // ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
    // ips200_show_string(100, 0, "rb");
    // ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
}
/**
 * @brief  页面事件
 * @param  btn:发出事件的按键
 * @param  event:事件编号
 * @retval 无
 */
static void Event(page_event event)
{

    Curser_Last = Curser;
    if (page_event_forward == event) {
        Curser--; // 光标上移
    } else if (page_event_backward == event) {
        Curser++; // 光标下移
    } else if (page_event_press_short == event) {
        sport_pid_init();
    } else if (page_event_press_long == event) {
        Page_Shift(page_menu);
    }
    if (Curser < LINE_HEAD) {
        Curser = LINE_END;
    } else if (Curser > LINE_END) {
        Curser = LINE_HEAD;
    }
    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}

/**
 * @brief 页面注册函数
 *
 * @param pageID
 */
void PageRegister_page_dparam(unsigned char pageID)
{
    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}