/*
    shoot_ctrl Task
    飞镖发射
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/shoot.h"
#include "module/config.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
//COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_shoot_ctrl(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

  
  /* 计算任务运行到指定频率需要等待的tick数 */
  const uint32_t delay_tick = osKernelGetTickFreq() / SHOOT_CTRL_FREQ;

  osDelay(SHOOT_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
	
	Config_ShootInit();
	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
	Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
	float s_sum[2]={0,0},s_num=0;
	int N=2000;
	for(int i=1;i<=N;i++)
	{	
		Shoot_UpdateFeedback(&shoot);
		if(shoot.feedback.fric[0].gearbox_total_angle!=0&&shoot.feedback.fric[1].gearbox_total_angle!=0)
		{
				s_sum[0]+=shoot.feedback.fric[0].gearbox_total_angle;
				s_sum[1]+=shoot.feedback.fric[1].gearbox_total_angle;
				if(s_num == 0)s_num=N-i+1;
		}
	}
	shoot.pos_comp[0]=-s_sum[0]/s_num;
	shoot.pos_comp[1]=-s_sum[1]/s_num;
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
		
		osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
		
	  Shoot_UpdateFeedback(&shoot);
	  Shoot_Control(&shoot,&shoot_cmd);
		
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}