/*
    Init Task
    任务初始化，创建各个线程任务和消息队列
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"

/* USER INCLUDE BEGIN */
#include "module/gimbal.h"
#include "module/chassis.h"
#include "module/shoot.h"
#include "device/dr16.h"
#include "device/et16s.h"
 #include "device/referee.h"
#include "device/ai.h"
 #include "device/supercap.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化
 *
 * \param argument 未使用
 */
void Task_Init(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */
    /* USER CODE INIT BEGIN */

    /* USER CODE INIT END */
  osKernelLock(); /* 锁定内核，防止任务切换 */
  
  /* 创建任务线程 */
  task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
  task_runtime.thread.chassis = osThreadNew(Task_chassis, NULL, &attr_chassis);
  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
  task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
  task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
  task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
  task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
  task_runtime.thread.Task9 = osThreadNew(Task_Task9, NULL, &attr_Task9);
  task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap);

  // 创建消息队列
  /* USER MESSAGE BEGIN */
  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 15, NULL);
  /* 接受ET16S数据消息队列*/
  task_runtime.msgq.rc.et16s = osMessageQueueNew(2u, sizeof(ET16s_t), NULL);
  task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
    task_runtime.msgq.imu.eulr = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
  task_runtime.msgq.imu.gyro = osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL); 
  task_runtime.msgq.imu.quat = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
  task_runtime.msgq.gimbal.imu = osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
  task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
  task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
  task_runtime.msgq.gimbal.yaw4310 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
  task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
  task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
  task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
  task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
  task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL);
  task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/
  	/* 裁判系统 */
	task_runtime.msgq.referee.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);		
	task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);	
	task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);				
	task_runtime.msgq.referee.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);		
	task_runtime.msgq.referee.ui= osMessageQueueNew(2u, sizeof(CMD_UI_t), NULL);				
	/* UI */	
  task_runtime.msgq.ui.chassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
  task_runtime.msgq.ui.cap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
  task_runtime.msgq.ui.gimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
  task_runtime.msgq.ui.shoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
  task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
	/*超电*/
	task_runtime.msgq.cap.for_chassis = osMessageQueueNew(2u, sizeof(CAN_SuperCapRXDataTypeDef), NULL);
	task_runtime.msgq.cap.power_limit = osMessageQueueNew(2u, sizeof(float), NULL);	
  /* USER MESSAGE END */

  osKernelUnlock(); // 解锁内核
  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}