/*
    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/virtual_chassis.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_RECOVER,  // 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;
Virtual_Chassis_t virtual_chassis; // 添加虚拟底盘设备
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* 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);
  
  // 初始化虚拟底盘设备
  Virtual_Chassis_Init(&virtual_chassis, &Config_GetRobotParam()->virtual_chassis_param);
  Virtual_Chassis_Enable(&virtual_chassis); // 使能虚拟底盘

  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    // 更新虚拟底盘数据
    Virtual_Chassis_Update(&virtual_chassis);
    
    // 从虚拟底盘获取IMU数据
    Virtual_Chassis_IMUFeedback_t *virtual_imu = Virtual_Chassis_GetIMUFeedback(&virtual_chassis);
    if (virtual_imu != NULL && virtual_imu->online) {
        chassis_imu.accl = virtual_imu->accl;
        chassis_imu.gyro = virtual_imu->gyro; 
        chassis_imu.euler = virtual_imu->euler;
        chassis.feedback.imu = chassis_imu;
    } else {
        // 如果虚拟底盘IMU离线，从消息队列获取IMU数据作为备用
        if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
            chassis.feedback.imu = chassis_imu;
        }
    }
    
    // 从虚拟底盘获取关节电机数据
    for (int i = 0; i < 4; i++) {
        Virtual_Chassis_MotorFeedback_t *virtual_motor = Virtual_Chassis_GetMotorFeedback(&virtual_chassis, i);
        if (virtual_motor != NULL && virtual_motor->online) {
            // 将虚拟底盘的电机数据转换为底盘反馈格式
            chassis.feedback.joint[i].rotor_abs_angle = virtual_motor->current_angle;
            chassis.feedback.joint[i].rotor_speed = virtual_motor->current_velocity;
            chassis.feedback.joint[i].torque_current = virtual_motor->current_torque;
            chassis.feedback.joint[i].temp = 25.0f; // 默认温度
        }
    }
    
    if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
        // 成功接收到命令，更新底盘命令
    }
    
    Chassis_UpdateFeedback(&chassis);
    Chassis_Control(&chassis, &chassis_cmd);
    
    // 将控制输出发送给虚拟底盘
    if (Virtual_Chassis_IsOnline(&virtual_chassis)) {
        float torques[4];
        for (int i = 0; i < 4; i++) {
            torques[i] = chassis.output.joint[i].torque; // 从底盘控制输出获取力矩
        }
        // Virtual_Chassis_SendTorqueCommand(&virtual_chassis, torques);
    }
    
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}