/*
    Init Task
    任务初始化，创建各个线程任务和消息队列
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"

/* USER INCLUDE BEGIN */

/* USER INCLUDE BEGIN */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化
 *
 * \param argument 未使用
 */
void Task_Init(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */
    /* USER CODE INIT BEGIN */
    Config_Get(&task_runtime.config); /* 获取机器人配置 */
    /* USER CODE INIT END */
  osKernelLock(); /* 锁定内核，防止任务切换 */
  
  /* 创建任务线程 */
  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
  task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
  task_runtime.thread.test = osThreadNew(Task_test, NULL, &attr_test);
  task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
  task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
  task_runtime.thread.ctrl_leg = osThreadNew(Task_ctrl_leg, NULL, &attr_ctrl_leg);
  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);

  // 创建消息队列
  /* USER MESSAGE BEGIN */
  task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
  task_runtime.msgq.cmd.chassis = osMessageQueueNew(2u, sizeof(CMD_ChassisCmd_t), NULL);
  task_runtime.msgq.chassis.feefback = osMessageQueueNew(2u, sizeof(GO_ChassisFeedback_t), NULL);
  task_runtime.msgq.chassis.output = osMessageQueueNew(2u, sizeof(GO_ChassisCMD_t), NULL);
  task_runtime.msgq.body.eulr_imu = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
  task_runtime.msgq.chassis.eulr_imu = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
  /* USER MESSAGE END */

  osKernelUnlock(); // 解锁内核
  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}