/*
    ctrl_chassis Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;  // 底盘实例
/* 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 */

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
  
  // 使用配置参数初始化底盘
  Config_RobotParam_t *robot_param = Config_GetRobotParam();
  Chassis_Param_t chassis_param = {
      .joint_param = {
          robot_param->joint_param[0],
          robot_param->joint_param[1], 
          robot_param->joint_param[2],
          robot_param->joint_param[3]
      },
      .wheel_param = {
          robot_param->wheel_param[0],
          robot_param->wheel_param[1]
      }
  };
  
  // 初始化底盘
  if (Chassis_Init(&chassis, &chassis_param) != DEVICE_OK) {
      // 初始化失败处理
      return;
  }
  
  // 使能底盘
  Chassis_Enable(&chassis);
  
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    
    // 更新底盘数据
    Chassis_Update(&chassis);
    
    // 处理底盘控制（包括CAN通信）
    Chassis_Ctrl(&chassis);
    
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}