/*
    rc Task
    遥控器控制
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
#include "bsp/buzzer.h"
#include "bsp/gpio.h"
#include "device/dr16.h"
#include "component/cmd.h"
/* USER INCLUDE END*/

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
DR16_t dr16;
CMD_RC_t cmd_rc;
/* USER STRUCT END*/

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

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

  /* USER CODE INIT BEGIN*/
  DR16_Init(&dr16); /* 初始化DR16接收机 */
  BSP_Buzzer_Set(300.0f, 0.2f); /* 启动蜂鸣器，频率1kHz，50%占空比 */
  /* USER CODE INIT END*/

  while (1) {
    /* USER CODE BEGIN */
    DR16_StartDmaRecv(&dr16);
    if (DR16_WaitDmaCplt(20)) {
      DR16_ParseData(&dr16);

      // BSP_Buzzer_Start(); /* 启动蜂鸣器 */
      BSP_GPIO_SetPin(BSP_GPIO_24V_EN1, BSP_GPIO_ON); /* 打开24V电源1 */
      BSP_GPIO_SetPin(BSP_GPIO_24V_EN2, BSP_GPIO_ON); /* 打开24V电源2 */
    } else {
      DR16_HandleOffline(&dr16);

      // BSP_Buzzer_Stop(); /* 停止蜂鸣器 */
      BSP_GPIO_SetPin(BSP_GPIO_24V_EN1, BSP_GPIO_OFF); /* 关闭24V电源1 */
      BSP_GPIO_SetPin(BSP_GPIO_24V_EN2, BSP_GPIO_OFF); /* 关闭24V电源2 */
    }
    DR16_ParseRC(&dr16, &cmd_rc); /* 解析遥控器数据 */
    /* 将遥控器数据放入消息队列 */
    osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); /* 重置消息队列 */
    osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);

    /* USER CODE END */
  }
  
}