/*
    super_cap Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/supercap.h"
#include "device/referee.h"
#include "module/cap.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
float power_limit = 120;
bool cap_online;
CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
Referee_ForCap_t referee_cap;
Cap_RefereeUI_t cap_ui;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_cap(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() / CAP_FREQ;

  osDelay(CAP_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 */
	SuperCap_Init();
	SuperCap_CanTX.Enable = 1 ;              //超级电容使能。1使能，0失能
	SuperCap_CanTX.Charge = 0 ;              //此标志位无效，超电的充放电是自动的
	SuperCap_CanTX.Powerlimit = 120 ;        //裁判系统功率限制
	SuperCap_CanTX.ChargePower = 1 ;         //此参数无效，超电的充电功率随着底盘功率变化
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
			//osMessageQueueGet(task_runtime.msgq.referee.ui.tocap,  , NULL, 0);		
			
			cap_online = get_supercap_online_state();
			
			osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
      /* 根据裁判系统数据计算输出功率 */
			SuperCap_CanTX.Powerlimit = power_limit;
      Cap_Control(&CAN_SuperCapRXData, &referee_cap);
			SuperCap_Update();
      CAN_TX_SuperCapData(&SuperCap_CanTX);
      osKernelUnlock();
		  /* 将电容状态发送到Chassis */
//      osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
//      osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
			osMessageQueueReset(task_runtime.msgq.cap.power_limit);
      osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0);
			/* 超电UI */
			Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui);
      osMessageQueueReset(task_runtime.msgq.referee.ui.tocap);
      osMessageQueuePut(task_runtime.msgq.referee.ui.tocap, &cap_ui, 0, 0);		
		
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}