/*
    super_cap Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
float power_limit;
CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
Referee_ForCap_t referee_cap;
Referee_CapUI_t cap_ui;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_super_cap(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() / SUPER_CAP_FREQ;

  osDelay(SUPER_CAP_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 */
	// SuperCap_Init();
	// SuperCap_CanTX.Enable = 1 ;              //超级电容使能。1使能，0失能
	// SuperCap_CanTX.Charge = 0 ;              //此标志位无效，超电的充放电是自动的
	// SuperCap_CanTX.Powerlimit = 120 ;        //裁判系统功率限制
	// SuperCap_CanTX.ChargePower = 1 ;         //此参数无效，超电的充电功率随着底盘功率变化
  /* 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.referee.cap, &SuperCap_CanTX.Powerlimit , NULL, 0);		
      // SuperCap_Update();
      // CAN_TX_SuperCapData(&SuperCap_CanTX);
		 /* 锁住RTOS内核防止控制过程中断，造成错误 */
			// osKernelLock();
      /* 根据裁判系统数据计算输出功率 */
      // Cap_Control(&CAN_SuperCapRXData, &referee_cap, &power_limit);
      // osKernelUnlock();		
		
      // osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
      // osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
			// osMessageQueueReset(task_runtime.msgq.cap.power_limit);
      // osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0);		
			// /* 超电UI */
			// Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui);
      // osMessageQueueReset(task_runtime.msgq.ui.cap);
      // osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);		
		
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}