/*
    referee Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/referee.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Referee_t ref;
Referee_UI_t ui;
CMD_UI_t ref_cmd;
Referee_ForCap_t for_cap;
Referee_ForAI_t for_ai;
Referee_ForChassis_t for_chassis;
Referee_ForShoot_t for_shoot;

/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_referee(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() / REFEREE_FREQ;

  osDelay(REFEREE_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 */
	uint32_t last_online_tick = 0;
  /* 初始化裁判系统 */
  Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen);

  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    Referee_StartReceiving(&ref);
		
    if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
        SIGNAL_REFEREE_RAW_REDY) {
      if (osKernelGetTickCount() - last_online_tick > 3000)
        Referee_HandleOffline(&ref);
    } else {
      Referee_Parse(&ref);
      last_online_tick = osKernelGetTickCount();
    }
    Referee_PackCap(&for_cap, &ref);
    Referee_PackAI(&for_ai, &ref);
    Referee_PackShoot(&for_shoot, &ref);
    Referee_PackChassis(&for_chassis, &ref);
    if (osKernelGetTickCount() > delay_tick){
      tick += delay_tick;
			/* 裁判系统数据读取 */
      osMessageQueueReset(task_runtime.msgq.referee.cap);
      osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0);
      osMessageQueueReset(task_runtime.msgq.referee.ai);
      osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0);
      osMessageQueueReset(task_runtime.msgq.referee.chassis);
      osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0);
      osMessageQueueReset(task_runtime.msgq.referee.shoot);
      osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0);
			/* UI数据获取 */
      osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0);
      osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0);
      osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0);
      osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0);
      osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0);
      Referee_UIRefresh(&ui);	
			
      while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL,
                               0) == osOK) {
        Referee_PraseCmd(&ui, ref_cmd);
//				 Referee_StartSend(send_data, sizeof(send_data));
      }			
      Referee_PackUI(&ui, &ref);			
		} 		
		
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}