/*
    cmd Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/AT9S_Pro.h"
#include "module/config.h"
#include "module/balance_chassis.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "module/track.h"
#include "module/cmd/cmd.h"
#include "bsp/fdcan.h"
#include "module/vision_bridge.h"
//#define DEAD_AREA 0.05f
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
#if CMD_RCTypeTable_Index == 0
DR16_t cmd_dr16;
#elif CMD_RCTypeTable_Index == 1
AT9S_t cmd_at9s;
#endif
AI_cmd_t cmd_ai;

#if CMD_ENABLE_SRC_REF
CMD_RawInput_REF_t cmd_ref;
#endif

static CMD_t cmd;

AI_t ai;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_cmd(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() / CMD_FREQ;

  osDelay(CMD_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 */
  CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
  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 */
    #if CMD_RCTypeTable_Index == 0
    osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
    #elif CMD_RCTypeTable_Index == 1
    osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
    #endif
    
    // /* 从CAN2接收AI命令 */
    // AI_ParseCmdFromCan( &ai,&cmd_ai);
    #error "弄好自瞄之后统一改"

#if CMD_ENABLE_SRC_REF
    /* 从裁判系统读取最新数据（非阻塞） */
    osMessageQueueGet(task_runtime.msgq.referee.tocmd.chassis, &cmd_ref.chassis, NULL, 0);
    osMessageQueueGet(task_runtime.msgq.referee.tocmd.shoot,   &cmd_ref.shoot,   NULL, 0);
    osMessageQueueGet(task_runtime.msgq.referee.tocmd.cap,     &cmd_ref.cap,     NULL, 0);
    osMessageQueueGet(task_runtime.msgq.referee.tocmd.ai,      &cmd_ref.ai,      NULL, 0);
#endif

    CMD_Update(&cmd);
    
    /* 获取命令发送到各模块 */
    #if CMD_ENABLE_MODULE_CHASSIS
    Chassis_CMD_t *cmd_for_chassis = CMD_GetChassisCmd(&cmd);
    osMessageQueueReset(task_runtime.msgq.chassis.cmd);
    osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
    #endif

    #if CMD_ENABLE_MODULE_GIMBAL
    Gimbal_CMD_t *cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
    osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
    osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
    #endif

    #if CMD_ENABLE_MODULE_SHOOT
    Shoot_CMD_t *cmd_for_shoot = CMD_GetShootCmd(&cmd);
    #if CMD_ENABLE_MODULE_GIMBAL
    /* 发射时添加pitch前馈，抵消后坐力 */
    cmd_for_gimbal->feedforward_pit = cmd_for_shoot->firecmd ? -1.0f : 0.0f;
    #endif
    osMessageQueueReset(task_runtime.msgq.shoot.cmd);
    osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
    #endif

    #if CMD_ENABLE_MODULE_TRACK
    Track_CMD_t *cmd_for_track = CMD_GetTrackCmd(&cmd);
    osMessageQueueReset(task_runtime.msgq.track.cmd);
    osMessageQueuePut(task_runtime.msgq.track.cmd, cmd_for_track, 0, 0);
    #endif

    #if CMD_ENABLE_MODULE_REFUI
    Referee_UI_CMD_t *cmd_for_ui = CMD_GetRefUICmd(&cmd);
    osMessageQueueReset(task_runtime.msgq.referee.ui.frcmd);
    osMessageQueuePut(task_runtime.msgq.referee.ui.frcmd, cmd_for_ui, 0, 0);
    #endif

    #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
    Chassis_CMD_t *cmd_for_balance_chassis = CMD_GetBalanceChassisCmd(&cmd);
    osMessageQueueReset(task_runtime.msgq.chassis.cmd);
    osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_balance_chassis, 0, 0);
    #endif

#if CMD_ENABLE_SRC_REF
    /* 将裁判数据转发到各模块的 .ref 队列 */
    {
        CMD_RawInput_REF_t *ref = CMD_GetRefData(&cmd);
        osMessageQueueReset(task_runtime.msgq.chassis.ref);
        osMessageQueuePut(task_runtime.msgq.chassis.ref, &ref->chassis, 0, 0);
        osMessageQueueReset(task_runtime.msgq.shoot.ref);
        osMessageQueuePut(task_runtime.msgq.shoot.ref, &ref->shoot, 0, 0);
        osMessageQueueReset(task_runtime.msgq.cap.ref);
        osMessageQueuePut(task_runtime.msgq.cap.ref, &ref->cap, 0, 0);
        osMessageQueueReset(task_runtime.msgq.ai.ref);
        osMessageQueuePut(task_runtime.msgq.ai.ref, &ref->ai, 0, 0);
    }
#endif

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