#pragma once

#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "FreeRTOS.h"
#include "task.h"

/* USER INCLUDE BEGIN */
#include "module/config.h"
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* 任务运行频率 */
#define TEST_FREQ (1000)
#define MONITOR_FREQ (100)
#define CMD_FREQ (500)
#define CTRL_LEG_FREQ (800)
#define CTRL_CHASSIS_FREQ (500)

/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
#define RC_INIT_DELAY (0)
#define ATTI_ESTI_INIT_DELAY (0)
#define TEST_INIT_DELAY (0)
#define CLI_INIT_DELAY (0)
#define MONITOR_INIT_DELAY (0)
#define CMD_INIT_DELAY (0)
#define CTRL_LEG_INIT_DELAY (200)
#define CTRL_CHASSIS_INIT_DELAY (200)

/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

/* 任务运行时结构体 */
typedef struct {
    /* 各任务，也可以叫做线程 */
    struct {
        osThreadId_t rc;
        osThreadId_t atti_esti;
        osThreadId_t test;
        osThreadId_t cli;
        osThreadId_t monitor;
        osThreadId_t cmd;
        osThreadId_t ctrl_leg;
        osThreadId_t ctrl_chassis;
    } thread;

    /* USER MESSAGE BEGIN */
    struct {
        // osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */

        struct {
            osMessageQueueId_t eulr_imu;
        } body;
        struct {
            struct {
                osMessageQueueId_t rc; /* 原始数据消息队列 */
                osMessageQueueId_t host; /* 上位机控制消息队列 */
            }raw; /* 原始数据消息队列 */

            osMessageQueueId_t chassis;
        }cmd; /* 控制命令消息队列 */

        struct {
            osMessageQueueId_t feefback;
            osMessageQueueId_t output;
        }chassis; /* 底盘控制消息队列 */
    } msgq;
    /* USER MESSAGE END */

    /* 机器人状态 */
    struct {
        float battery; /* 电池电量百分比 */
        float vbat; /* 电池电压 */
        float cpu_temp; /* CPU温度 */
    } status;

    /* USER CONFIG BEGIN */
    Config_t config; /* 用户配置结构体，包含所有用户配置的参数 */
    /* USER CONFIG END */

    /* 各任务的stack使用 */
    struct {
        UBaseType_t rc;
        UBaseType_t atti_esti;
        UBaseType_t test;
        UBaseType_t cli;
        UBaseType_t monitor;
        UBaseType_t cmd;
        UBaseType_t ctrl_leg;
        UBaseType_t ctrl_chassis;
    } stack_water_mark;

    /* 各任务运行频率 */
    struct {
        float test;
        float monitor;
        float cmd;
        float ctrl_leg;
        float ctrl_chassis;
    } freq;

    /* 任务最近运行时间 */
    struct {
        float test;
        float monitor;
        float cmd;
        float ctrl_leg;
        float ctrl_chassis;
    } last_up_time;

} Task_Runtime_t;

/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;

/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_test;
extern const osThreadAttr_t attr_cli;
extern const osThreadAttr_t attr_monitor;
extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_ctrl_leg;
extern const osThreadAttr_t attr_ctrl_chassis;

/* 任务函数声明 */
void Task_Init(void *argument);
void Task_rc(void *argument);
void Task_atti_esti(void *argument);
void Task_test(void *argument);
void Task_cli(void *argument);
void Task_monitor(void *argument);
void Task_cmd(void *argument);
void Task_ctrl_leg(void *argument);
void Task_ctrl_chassis(void *argument);

#ifdef __cplusplus
}
#endif