/*
    ctrl_lz Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
static bool command_received = false;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_lz(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_LZ_FREQ;

  osDelay(CTRL_LZ_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();

  MOTOR_LZ_Init();

  for (int i = 0; i < 4; i++) {
      MOTOR_LZ_Register(&Config_GetRobotParam()->joint_param[i]);
  }
  
  // 注册CAN接收ID
  BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令
  BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    MOTOR_LZ_UpdateAll();

    // 检查CAN接收消息
    BSP_CAN_Message_t rx_msg;
    command_received = false; // 重置命令接收标志
    
    // 检查ID 121 - 使能4个电机
    if (BSP_CAN_GetMessage(BSP_CAN_1, 121, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
        command_received = true;
        for (int i = 0; i < 4; i++) {
            MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
        }
    }
    
    // 检查ID 122 - 运控模式控制4个电机
    if (BSP_CAN_GetMessage(BSP_CAN_1, 122, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
        command_received = true;
        // 8字节数据分别是4个电机的力矩 (每个电机2字节，有符号整数，精度0.01 Nm)
        for (int i = 0; i < 4; i++) {
            int16_t torque_raw;
            memcpy(&torque_raw, &rx_msg.data[i * 2], sizeof(int16_t));
            float torque = (float)torque_raw / 100.0f; // 转换为浮点数力矩值
            
            // 使用运控模式控制电机，只设置力矩，其他参数为0
            MOTOR_LZ_MotionParam_t motion_param = {
                .target_angle = 0.0f,
                .target_velocity = 0.0f,
                .kp = 0.0f,
                .kd = 0.0f,
                .torque = torque
            };
            MOTOR_LZ_MotionControl(&Config_GetRobotParam()->joint_param[i], &motion_param);
        }
    }

    // 如果没有收到任何控制命令，电机进入relax模式
    if (!command_received) {
        for (int i = 0; i < 4; i++) {
            MOTOR_LZ_Relax(&Config_GetRobotParam()->joint_param[i]);
        }
    }

    // 发送4个电机的反馈数据，ID分别为124、125、126、127
    for (int i = 0; i < 4; i++) {
        MOTOR_LZ_t* motor = MOTOR_LZ_GetMotor(&Config_GetRobotParam()->joint_param[i]);
        if (motor != NULL) {
            BSP_CAN_StdDataFrame_t motor_frame = {
                .id = 124 + i,  // ID: 124, 125, 126, 127
                .dlc = 8,
                .data = {0}
            };
            
            // 数据重构：转矩电流(2字节) + 位置(3字节) + 速度(3字节) = 8字节
            // 转矩电流 - 转换为16位整数 (精度0.01 Nm)
            int16_t torque_int = (int16_t)(motor->lz_feedback.current_torque * 100);
            memcpy(&motor_frame.data[0], &torque_int, sizeof(int16_t));
            
            // 位置 - 转换为24位整数，使用3字节 (精度0.0001 rad)
            int32_t angle_int = (int32_t)(motor->lz_feedback.current_angle * 10000) & 0xFFFFFF;
            motor_frame.data[2] = (angle_int >> 16) & 0xFF;
            motor_frame.data[3] = (angle_int >> 8) & 0xFF;
            motor_frame.data[4] = angle_int & 0xFF;
            
            // 速度 - 转换为24位整数，使用3字节 (精度0.001 rad/s)
            int32_t velocity_int = (int32_t)(motor->lz_feedback.current_velocity * 1000) & 0xFFFFFF;
            motor_frame.data[5] = (velocity_int >> 16) & 0xFF;
            motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
            motor_frame.data[7] = velocity_int & 0xFF;
            
            BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
        }
    }

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