/*
    test Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "cmsis_os2.h"
#include "module/chassis.h"
#include "module/config.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;
ChassisCmd_t chassis_cmd;         // 控制命令
Chassis_IMU_t chassis_imu;
Chassis_Feedback_t chassis_fb;    // 反馈的底盘状态
static AHRS_Eulr_t mech_zero = {0};      // 机械零位（初始 yaw）
#define DR16_CH_VALUE_MID (1024u)

/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_test(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() / TEST_FREQ;

  osDelay(TEST_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 */
   Config_RobotParam_t *cfg = Config_GetRobotParam();
   Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, &mech_zero, TEST_FREQ);
	
	  bool mech_zero_locked = false;                 // 首次 IMU 到来后只锁一次

  // 默认命令：安全状态
  chassis_cmd.mode = CHASSIS_MODE_RELAX;
  chassis_cmd.ctrl_vec.vx = 0.0f;
  chassis_cmd.ctrl_vec.vy = 0.0f;
  chassis_cmd.ctrl_vec.wz = 0.0f;
//  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
		if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) {
		chassis_fb.imu = chassis_imu;
    chassis.feedback.imu = chassis_imu;
			 if (!mech_zero_locked) {
        mech_zero.yaw = chassis_imu.eulr.yaw;  // 只在需要“上电即定零”时保留
        mech_zero_locked = true;
    }
}
if(osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
	
}
        Chassis_UpdateFeedback(&chassis, &chassis_fb);
        // 构造底盘指令 
//				chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
        // 控制计算
        Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
        // 输出电流到电机   
        Chassis_Output(&chassis);

//    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}