/*
    shoot Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
AI_result_t shoot_ai_result_cmd;
PackageMCU_t shoot_ai_mcu_package;

/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_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() / SHOOT_FREQ;

  osDelay(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,SHOOT_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
shoot_ai_mcu_package.data.bullet_count = 0;
static bool last_fire_state = false;
bool current_fire_state = false; // 当前是否需要发射
static uint32_t ai_last_fire_tick = 0;
static const uint32_t ai_single_interval_ms = 220;
static const uint32_t ai_burst_interval_ms = 110;
static const uint32_t ai_continue_interval_ms = 0;
/* 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.cmd, &shoot_cmd, NULL, 0);
osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_result_cmd, NULL, 0);
  
if(shoot_cmd.control_mode==SHOOT_REMOTE)
{
  //do nothing，使用遥控器的指令
  current_fire_state = shoot_cmd.firecmd;
}
else if(shoot_cmd.control_mode==SHOOT_AI)
{
  uint32_t now_ms = osKernelGetTickCount();
  uint32_t interval_ms = ai_single_interval_ms;

  shoot_cmd.ready = true;

  if (shoot_ai_result_cmd.mode == 2) {
    switch (shoot_cmd.mode) {
      case SHOOT_MODE_CONTINUE:
        interval_ms = ai_continue_interval_ms;
        break;
      case SHOOT_MODE_BURST:
        interval_ms = ai_burst_interval_ms;
        break;
      case SHOOT_MODE_SINGLE:
      default:
        interval_ms = ai_single_interval_ms;
        break;
    }

    if (interval_ms == 0) {
      shoot_cmd.firecmd = true;
    } else if ((now_ms - ai_last_fire_tick) >= interval_ms) {
      shoot_cmd.firecmd = true;
      ai_last_fire_tick = now_ms;
    } else {
      shoot_cmd.firecmd = false;
    }
  } else {
    shoot_cmd.firecmd = false;
    ai_last_fire_tick = now_ms;
  }

  current_fire_state = shoot_cmd.firecmd;
  }

  if(current_fire_state == true && last_fire_state == false)
  {
  shoot_ai_mcu_package.data.bullet_count++; /* 每次射击时增加射击数量 */
  }
last_fire_state = current_fire_state;

    Shoot_UpdateFeedback(&shoot);
    Shoot_SetMode(&shoot,shoot_cmd.mode);
    Shoot_Control(&shoot,&shoot_cmd);

    osMessageQueueReset(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count); 
    osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_ai_mcu_package, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}