/*
    rc Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/dr16.h"
#include "device/rc_can.h"
#include "module/balance_chassis.h"
#include "module/config.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DR16_t dr16;
RC_CAN_t rc_can;
Chassis_CMD_t cmd_to_chassis;
#define USE_RC_CAN
/* 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 */
  BSP_CAN_Init();
  DR16_Init(&dr16);
  RC_CAN_Init(&rc_can, &Config_GetRobotParam()->rc_can_param);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    #ifdef USE_DR16
    DR16_StartDmaRecv(&dr16);
    if (DR16_WaitDmaCplt(20)) {
      DR16_ParseData(&dr16);
      switch (dr16.data.sw_l) {
          case CMD_SW_UP: // 上位
              cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
              break;
          case CMD_SW_MID: // 中位  
              cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
              break;
          case CMD_SW_DOWN: // 下位
              cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
              break;
          default:
              cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
              break;
      }
        cmd_to_chassis.move_vec.vx = dr16.data.ch_l_y;
        cmd_to_chassis.move_vec.vy = dr16.data.ch_l_x;
        cmd_to_chassis.move_vec.wz = dr16.data.ch_r_x;
        cmd_to_chassis.height = dr16.data.ch_res;
    } else {
      DR16_Offline(&dr16);
        cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
    }
    #elif defined USE_RC_CAN
    RC_CAN_Update(&rc_can, RC_CAN_DATA_JOYSTICK);
    RC_CAN_Update(&rc_can, RC_CAN_DATA_SWITCH);
    if (rc_can.header.online) {
        switch (rc_can.data.sw.sw_l) {
            case RC_CAN_SW_UP: // 上位
                cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
                break;
            case RC_CAN_SW_MID: // 中位  
                cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
                break;
            case RC_CAN_SW_DOWN: // 下位
                cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
                break;
            default:
                cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
                break;
        }
        cmd_to_chassis.move_vec.vx = rc_can.data.joy.ch_l_y;
        cmd_to_chassis.move_vec.vy = rc_can.data.joy.ch_l_x;
        cmd_to_chassis.move_vec.wz = rc_can.data.joy.ch_r_x;
        cmd_to_chassis.height = rc_can.data.sw.ch_res;
    } else {
        RC_CAN_OFFLINE(&rc_can);
        cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
    }
    #endif
    osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
   
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}