#pragma once

#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "FreeRTOS.h"
#include "task.h"

/* USER INCLUDE BEGIN */
#include "module/config.h"
#define DEBUG
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* 任务运行频率 */
#define TEST_FREQ (500.0)
#define YAOKONGQI_FREQ (500.0)

/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
#define TEST_INIT_DELAY (0)
#define YAOKONGQI_INIT_DELAY (0)

/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

/* 任务运行时结构体 */
typedef struct {
    /* 各任务，也可以叫做线程 */
    struct {
        osThreadId_t test;
        osThreadId_t yaokongqi;
    } thread;

    /* USER MESSAGE BEGIN */
    struct {
        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
        osMessageQueueId_t dr16_data; /* dr16遥控器数据 */
    		struct {
            osMessageQueueId_t imu;
            osMessageQueueId_t cmd;
            osMessageQueueId_t yaw;
        }chassis;
    } msgq;
    /* USER MESSAGE END */

    /* 机器人状态 */
    struct {
        float battery; /* 电池电量百分比 */
        float vbat; /* 电池电压 */
        float cpu_temp; /* CPU温度 */
    } status;

    /* USER CONFIG BEGIN */


    /* USER CONFIG END */

    /* 各任务的stack使用 */
    struct {
        UBaseType_t test;
        UBaseType_t yaokongqi;
    } stack_water_mark;

    /* 各任务运行频率 */
    struct {
        float test;
        float yaokongqi;
    } freq;

    /* 任务最近运行时间 */
    struct {
        float test;
        float yaokongqi;
    } last_up_time;

} Task_Runtime_t;

/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;

/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_test;
extern const osThreadAttr_t attr_yaokongqi;

/* 任务函数声明 */
void Task_Init(void *argument);
void Task_test(void *argument);
void Task_yaokongqi(void *argument);

#ifdef __cplusplus
}
#endif