/*
    ctrl_gimbal Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "component/ahrs.h"
#include "device/mrobot.h"
#include "module/gimbal.h"
#include "module/config.h"
#include "bsp/can.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Gimbal_t gimbal;
Gimbal_CMD_t gimbal_cmd;
Gimbal_AI_t gimbal_ai;
// BSP_FDCAN_StdDataFrame_t can_frame;
/* USER STRUCT END */

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

/**
 * @brief 云台数据打印回调
 */
static int print_gimbal(const void *data, char *buf, size_t size) {
  const Gimbal_t *gimbal = (const Gimbal_t *)data;
  return MRobot_Snprintf(buf, size,
      "  Mode   : %d\r\n"
      "  IMU    : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
      "  GyroX  : %.3f  GyroY : %.3f  GyroZ : %.3f (rad/s)\r\n"
      "  Motor  : Yaw=%.1f(rpm) Pit=%.1f(rpm)\r\n"
      "  Output : Yaw=%.1f  Pit=%.1f\r\n",
      gimbal->mode,
      gimbal->imu.data.eulr.rol, gimbal->imu.data.eulr.pit, gimbal->imu.data.eulr.yaw,
      gimbal->imu.data.gyro.x, gimbal->imu.data.gyro.y, gimbal->imu.data.gyro.z,
      gimbal->feedback.motor.yaw.rotor_speed, gimbal->feedback.motor.pit.rotor_speed,
      gimbal->out.yaw, gimbal->out.pit);
  return 0;
}

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_gimbal(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() / CTRL_GIMBAL_FREQ;

  osDelay(CTRL_GIMBAL_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 */
  
  Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
  MRobot_RegisterDevice("gimbal", &gimbal, print_gimbal);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */

    // can_frame.id = 0x200;
    // can_frame.dlc = 8;
    // BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame);
    
    Gimbal_UpdateIMU(&gimbal);
    osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
    osMessageQueueGet(task_runtime.msgq.gimbal.ai_cmd, &gimbal_ai, NULL, 0);

    Gimbal_UpdateFeedback(&gimbal);

    osMessageQueueReset(task_runtime.msgq.chassis.yaw); // 重置消息队列，防止阻塞
    osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
    
    Gimbal_Control(&gimbal, &gimbal_cmd, &gimbal_ai);

    Gimbal_Output(&gimbal);

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