/*
    rc Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/mrobot.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DR16_t dr16;
/* USER STRUCT END */

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

/**
 * @brief DR16数据打印回调
 */
static int print_dr16(const void *data, char *buf, size_t size) {
  const DR16_t *dr16 = (const DR16_t *)data;
  return MRobot_Snprintf(buf, size,
      "  Status : %s\r\n"
      "  ChLX   : %.3f  ChLY : %.3f\r\n"
      "  ChRX   : %.3f  ChRY : %.3f\r\n"
      "  ChRes  : %.3f\r\n"
      "  SwL    : %d    SwR  : %d\r\n"
      "  Mouse  : X=%d Y=%d Z=%d (L:%d R:%d)\r\n"
      "  Keys   : 0x%04X\r\n",
      dr16->header.online ? "Online" : "Offline",
      dr16->data.ch_l_x, dr16->data.ch_l_y,
      dr16->data.ch_r_x, dr16->data.ch_r_y,
      dr16->data.ch_res,
      dr16->data.sw_l, dr16->data.sw_r,
      dr16->data.mouse.x, dr16->data.mouse.y, dr16->data.mouse.z,
      dr16->data.mouse.l_click, dr16->data.mouse.r_click,
      dr16->data.keyboard.value);
}

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_rc(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() / RC_FREQ;

  osDelay(RC_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 */
  DR16_Init(&dr16);
  MRobot_RegisterDevice("dr16", &dr16, print_dr16);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    DR16_StartDmaRecv(&dr16);
    if (DR16_WaitDmaCplt(20)) {
      DR16_ParseData(&dr16);
    } else {
      DR16_Offline(&dr16);
    }

    /* 将 DR16 原始数据推入消息队列，cmd 模块负责解析 */
    osMessageQueueReset(task_runtime.msgq.cmd.rc);
    osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);

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