/*
    rc Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "module/shoot.h"
#include "module/balance_chassis.h"
#include "module/gimbal.h"
#include "component/user_math.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DR16_t dr16;
Shoot_CMD_t for_shoot;
Chassis_CMD_t cmd_for_chassis;
Gimbal_CMD_t cmd_for_gimbal;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* 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);
  /* 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);
    }

    // switch (dr16.data.sw_l) {
    // case DR16_SW_UP:
    //   cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
    //   break;
    // case DR16_SW_MID:
    //   // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
    //   cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
    //   break;
    // case DR16_SW_DOWN:
    //   // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
    //   // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
    //   cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
    //   break;
    // default:
    //   cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
    //   break;
    // }
    // cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
    // cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
    // cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
    // cmd_for_chassis.height = dr16.data.ch_res;

    // osMessageQueueReset(
    //     task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
    // osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
    //                   0); // 非阻塞发送底盘控制命令
/************************* 云台命令 **************************************/
    switch (dr16.data.sw_l) {
    case DR16_SW_UP:
      cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
      cmd_for_gimbal.delta_yaw = 0.0f;
      cmd_for_gimbal.delta_pit = 0.0f;
      break;
    case DR16_SW_MID:
      if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
        cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
      } else {
        cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
      }
      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
      break;
    case DR16_SW_DOWN:
      if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
        cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
      } else {
        cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
      }
      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
      break;
    default:
      cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
      cmd_for_gimbal.delta_yaw = 0.0f;
      cmd_for_gimbal.delta_pit = 0.0f;
      break;
    }

    osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
    osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);

/************************* 底盘命令 **************************************/
    /* 跳跃触发检测：ch_res 从 -1.0f 松开回 0 时触发 */
    static bool ch_res_was_min = false;  /* 记录上次是否在最低位置 */
    const float CH_RES_MIN_THRESHOLD = -0.9f;  /* 判定为最低位置的阈值 */
    const float CH_RES_RELEASE_THRESHOLD = -0.3f;  /* 判定为松开的阈值 */
    
    cmd_for_chassis.jump_trigger = false;  /* 默认不触发 */
    if (dr16.data.ch_res < CH_RES_MIN_THRESHOLD) {
      ch_res_was_min = true;  /* 记录已到达最低位置 */
    } else if (ch_res_was_min && dr16.data.ch_res > CH_RES_RELEASE_THRESHOLD) {
      /* 从最低位置松开，触发跳跃 */
      cmd_for_chassis.jump_trigger = true;
      ch_res_was_min = false;  /* 重置状态 */
    }

switch (dr16.data.sw_l) {
    case DR16_SW_UP:
      cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
      break;
    case DR16_SW_MID:
      cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
      // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
      break;
    case DR16_SW_DOWN:
    // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
      // cmd_for_chassis.mode = CHASSIS_MODE_BALANCE_ROTOR;
      cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
      // cmd_for_chassis.mode = CHASSIS_MODE_CALIBRATE;
      break;
    default:
      cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
      break;
    }
    cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
    cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
    cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
    cmd_for_chassis.height = max(dr16.data.ch_res, 0.0f);

    osMessageQueueReset(
        task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
    osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
                      0); // 非阻塞发送底盘控制命令

/************************* 发射命令 **************************************/                      
    for_shoot.online = dr16.header.online;
    switch (dr16.data.sw_r) {
    case DR16_SW_UP:
      for_shoot.ready = false;
      for_shoot.firecmd = false;
      break;
    case DR16_SW_MID:
      for_shoot.ready = true;
      for_shoot.firecmd = false;
      break;
    case DR16_SW_DOWN:
      for_shoot.ready = true;
      for_shoot.firecmd = true;
      break;
    default:
      for_shoot.ready = false;
      for_shoot.firecmd = false;
      break;
    }
    osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
    osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);

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