/*
    ctrl_leg Task
    四足控制
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
#include "device/go.h"
#include <stdio.h>
/* USER INCLUDE END*/

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/

GO_t go __attribute__ ((section(".AXI_SRAM")));
GO_ChassisFeedback_t go_feedback;
GO_ChassisCMD_t go_cmd;

/* USER STRUCT END*/

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_leg(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() / CTRL_LEG_FREQ;

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

  /* USER CODE INIT BEGIN*/
  GO_Init(&go, &task_runtime.config.uart); /* 初始化四足控制 */
  /* USER CODE INIT END*/

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */

    /* USER CODE BEGIN */
    // osMessageQueueGet(task_runtime.msgq.chassis.output, &cmd, NULL, 0); /* 从消息队列中获取底盘控制命令 */
    if (osMessageQueueGet(task_runtime.msgq.chassis.output, &go_cmd, NULL, 0) == osOK) { /* 从消息队列中获取底盘控制命令 */
      GO_ParseCmd(&go, &go_cmd); /* 解析底盘控制命令 */
    } 
    osKernelLock();
    GO_Motor_Control(&go); /* 控制四足电机 */
    osKernelUnlock();

    GO_ParseFeedback(&go, &go_feedback); /* 解析四足电机反馈数据 */

    osMessageQueueReset(task_runtime.msgq.chassis.feefback); /* 重置反馈消息队列 */
    osMessageQueuePut(task_runtime.msgq.chassis.feefback, &go_feedback, 0, 0); /* 将反馈数据放入消息队列 */

    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}