/*
    ctrl_shoot Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/mrobot.h"
#include "module/shoot.h"
#include "module/config.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
/* USER STRUCT END */

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

/**
 * @brief 发射模块数据打印回调
 */
static int print_shoot(const void *data, char *buf, size_t size) {
  const Shoot_t *shoot = (const Shoot_t *)data;
  return MRobot_Snprintf(buf, size,
      "  State    : %d\r\n"
      "  Fric0    : %.1f rpm (target: %.1f)\r\n"
      "  Fric1    : %.1f rpm (target: %.1f)\r\n"
      "  Fric_Avg : %.1f rpm\r\n"
      "  Trig     : %.1f rpm (angle: %.2f deg)\r\n"
      "  Output   : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n",
      shoot->running_state,
      shoot->feedback.fric_rpm[0], shoot->target_variable.target_rpm,
      shoot->feedback.fric_rpm[1], shoot->target_variable.target_rpm,
      shoot->feedback.fric_avgrpm,
      shoot->feedback.trig_rpm, shoot->feedback.trig_angle_cicle,
      shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig);
  return 0;
}

/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_shoot(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_SHOOT_FREQ;

  osDelay(CTRL_SHOOT_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 */
  
  Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
  MRobot_RegisterDevice("shoot", &shoot, print_shoot);

  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0);
    Shoot_UpdateFeedback(&shoot);
    //  Shoot_Test(&shoot);
    Shoot_Control(&shoot,&shoot_cmd);

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