/*
    AI Task - 下层板
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/aimbot.h"
#include "module/config.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "device/referee_proto_types.h"
#include <string.h>
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
static Aimbot_Param_t      aimbot_can;       /* CAN 通信参数（从 config 拷贝） */
static Aimbot_FeedbackData_t lower_board_fb; /* 打包好发给上层板的数据 */
static Aimbot_AIResult_t   ai_cmd_from_can;  /* 上层板下发并传到底板的指令 */
static AI_cmd_t            for_cmdnuc;   /* 转换后发往 cmd.nuc 的指令 */

static Referee_ForAI_t     ai_ref;           /* 裁判系统转发给 AI 的数据 */
static Shoot_AI_t    raw_shoot;         /* 发射机构反馈 */
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ai(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() / AI_FREQ;

  osDelay(AI_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 */
  aimbot_can = Config_GetRobotParam()->aimbot_param;
  Aimbot_Init(&aimbot_can);
  /* USER CODE INIT END */

  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */

    /* 1. 读取裁判系统数据（获知机器人系统状态/弹速等） */
    osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0);

    /* 2. 读取发射机构反馈数据（非阻塞），以获取弹速、弹数等信息
       todo: 检查是否有单独发弹速消息队列
    */
    osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromShoot, &raw_shoot, NULL, 0);

    /* 3. 打包当前底层板的数据（弹速、弹数、模式），通过CAN发送给上层板
       由于现在只能拿到一部分，预留测试值，实车时接入射击模块返回的信息 
    */
    // TODO: 使用实际读取到的 bullet_speed 和 bullet_count
    float current_bullet_speed = raw_shoot.bullet_speed;
    uint16_t current_bullet_count = raw_shoot.num_shooted;
    uint8_t current_mode = 1;

    Aimbot_PackFeedback(&lower_board_fb, current_bullet_speed, current_bullet_count, current_mode);
    Aimbot_SendFeedbackOnCAN(&aimbot_can, &lower_board_fb);

    /* 4. 解析上层板发来的 AI 指令（非阻塞提取） */
    if (Aimbot_ParseCmdFromCAN(&aimbot_can, &ai_cmd_from_can) == DEVICE_OK) {
      /* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */
      for_cmdnuc.mode                 = ai_cmd_from_can.mode;
      for_cmdnuc.gimbal.setpoint.yaw  = ai_cmd_from_can.gimbal_t.setpoint.yaw;
      for_cmdnuc.gimbal.setpoint.pit  = ai_cmd_from_can.gimbal_t.setpoint.pit;
      for_cmdnuc.gimbal.vel.yaw       = ai_cmd_from_can.gimbal_t.vel.yaw;
      for_cmdnuc.gimbal.vel.pit       = ai_cmd_from_can.gimbal_t.vel.pit;
      for_cmdnuc.gimbal.accl.yaw      = ai_cmd_from_can.gimbal_t.accl.yaw;
      for_cmdnuc.gimbal.accl.pit      = ai_cmd_from_can.gimbal_t.accl.pit;

      osMessageQueueReset(task_runtime.msgq.cmd.nuc);
      osMessageQueuePut(task_runtime.msgq.cmd.nuc, &for_cmdnuc, 0, 0);
    }

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