/*
    ai Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/fdcan.h"
#include "module/config.h"
#include "module/gimbal.h"
#include "device/vision_bridge.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
AI_cmd_t cmd_ai;
AI_t ai;
Gimbal_AI_t ai_for_gimbal;
/* 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 */
  AI_Init(&ai, &Config_GetRobotParam()->ai_param);
  /* 注册CAN接收ID */
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    AI_ParseCmdFromCan( &ai,&cmd_ai);
    if (cmd_ai.mode != 0){
      ai_for_gimbal.ctrl = true;
    } else {
      ai_for_gimbal.ctrl = false;
    }
    ai_for_gimbal.yaw = cmd_ai.gimbal.setpoint.yaw;
    ai_for_gimbal.pit = cmd_ai.gimbal.setpoint.pit;
    osMessageQueueReset(task_runtime.msgq.gimbal.ai_cmd);
    osMessageQueuePut(task_runtime.msgq.gimbal.ai_cmd, &ai_for_gimbal, 0, 0); 
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}