/*
    cmd Task
    解析各种控制命令，最后将最终命令输出
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
CMD_t cmd ;
CMD_RC_t rc;
/* USER STRUCT END*/

/* Private function --------------------------------------------------------- */
/* 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 */

  /* USER CODE INIT BEGIN*/
  CMD_Init(&cmd);
  /* 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 */
    osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */

    if (osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc, 0, 0) == osOK){
      CMD_ParseRc(&rc, &cmd, 1.0f / (float)CMD_FREQ);
    }
    osKernelUnlock(); /* 解锁RTOS内核 */
    
    osMessageQueueReset(task_runtime.msgq.cmd.chassis);
    osMessageQueuePut(task_runtime.msgq.cmd.chassis, &(cmd.chassis), 0, 0);

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