/*
    ctrl_chassis Task
    底盘控制，接受反馈和命令，计算输出给到两
    测腿控制
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
#include "module/chassis.h"
/* USER INCLUDE END*/

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
Chassis_t chassis;
GO_ChassisFeedback_t chassis_feedback; /* 底盘反馈数据 */
GO_ChassisCMD_t chassis_output; /* 底盘输出数据 */
CMD_ChassisCmd_t chassis_cmd; /* 底盘控制命令 */
/* USER STRUCT END*/

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_chassis(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_CHASSIS_FREQ;

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

  /* USER CODE INIT BEGIN*/
  Chassis_Init(&chassis, &task_runtime.config.chassis, CTRL_CHASSIS_FREQ); /* 初始化底盘 */
  /* 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 */
    if(osMessageQueueGet(task_runtime.msgq.chassis.feefback, &chassis_feedback, NULL, 0) == osOK) { /* 从消息队列中获取底盘反馈数据 */
      Chassis_UpdateFeedback(&chassis, &chassis_feedback); /* 更新底盘反馈数据 */
    }
    osMessageQueueGet(task_runtime.msgq.cmd.chassis, &chassis_cmd, NULL, 0);
    
    osKernelLock();
    Chassis_Control(&chassis, &chassis_cmd, tick); /* 控制底盘 */
    Chassis_DumpOutput(&chassis, &chassis_output); /* 将底盘输出数据转化为GO_ChassisCMD_t格式 */
    osKernelUnlock();
    
    osMessageQueueReset(task_runtime.msgq.chassis.output); /* 重置输出消息队列 */
    osMessageQueuePut(task_runtime.msgq.chassis.output, &chassis_output, 0, 0); /* 将底盘输出数据放入消息队列 */
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}