/*
    ctrl_chassis Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;
Chassis_CMD_t chassis_cmd = {
    .mode = CHASSIS_MODE_RELAX,  // 改为RECOVER模式，让电机先启动
    .move_vec = {
        .vx = 0.0f,
        .vy = 0.0f,
        .wz = 0.0f,
    },
    .height = 0.0f,
};
Chassis_IMU_t chassis_imu;
/* USER STRUCT END */

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

/**
 * @brief 底盘数据打印回调
 */
static int print_chassis(const void *data, char *buf, size_t size) {
  const Chassis_t *chassis = (const Chassis_t *)data;
  return MRobot_Snprintf(buf, size,
      "  Mode    : %d\r\n"
      "  IMU     : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
      "  Motors  : J0=%.1f J1=%.1f J2=%.1f J3=%.1f (rpm)\r\n"
      "  Wheels  : W0=%.1f W1=%.1f (rpm)\r\n"
      "  Output  : J0=%.1f J1=%.1f J2=%.1f J3=%.1f\r\n"
      "  VelX    : %.3f m/s\r\n",
      chassis->mode,
      chassis->feedback.imu.euler.rol, chassis->feedback.imu.euler.pit, chassis->feedback.imu.euler.yaw,
      chassis->feedback.joint[0].rotor_speed, chassis->feedback.joint[1].rotor_speed,
      chassis->feedback.joint[2].rotor_speed, chassis->feedback.joint[3].rotor_speed,
      chassis->feedback.wheel[0].rotor_speed, chassis->feedback.wheel[1].rotor_speed,
      chassis->output.joint[0], chassis->output.joint[1],
      chassis->output.joint[2], chassis->output.joint[3],
      chassis->chassis_state.velocity_x);
  return 0;
}

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_chassis(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_CHASSIS_FREQ;

  osDelay(CTRL_CHASSIS_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 */

  Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
  MRobot_RegisterDevice("chassis", &chassis, print_chassis);

  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    if (osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0) != osOK) {
        // 没有新命令，保持上次命令
    }
    if (osMessageQueueGet(task_runtime.msgq.chassis.imu, &chassis_imu, NULL, 0) == osOK) {
        chassis.feedback.imu = chassis_imu;
    }
    osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0);
 
    Chassis_UpdateFeedback(&chassis);

    Chassis_Control(&chassis, &chassis_cmd);  
    osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
    osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}