/*
    cmd Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
CMD_RC_t rc_c;
Chassis_CMD_t chassis_cmd_out;
Mechanism_CMD_t mechanism_cmd_out;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_cmd(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() / CMD_FREQ;

  osDelay(CMD_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 */
  CMD_Init(&chassis_cmd_out, &mechanism_cmd_out);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    /* 接收遥控器数据 */
    if (osMessageQueueGet(task_runtime.msgq.cmd.rc, &rc_c, NULL, 0) == osOK) {
      CMD_ParseRc(&rc_c, &chassis_cmd_out, &mechanism_cmd_out);
      CMD_CtrlSet(&chassis_cmd_out, &rc_c, &mechanism_cmd_out);
    }

    /* 将底盘指令发送给底盘任务 */
    osMessageQueueReset(task_runtime.msgq.chassis.cmd);
    osMessageQueuePut(task_runtime.msgq.chassis.cmd, &chassis_cmd_out, 0, 0);

    /* 将云台指令发送给云台任务（如有需要） */
    osMessageQueueReset(task_runtime.msgq.mechanism.cmd);
    osMessageQueuePut(task_runtime.msgq.mechanism.cmd, &mechanism_cmd_out, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}