#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"
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* 任务运行频率 */
#define ATTI_ESTI_FREQ (500.0)
#define RC_FREQ (500.0)
#define CHASSIS_FREQ (500.0)
#define CMD_FREQ (500.0)
#define GIMBAL_FREQ (500.0)
#define SHOOT_FREQ (500.0)

/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
#define ATTI_ESTI_INIT_DELAY (0)
#define RC_INIT_DELAY (0)
#define CHASSIS_INIT_DELAY (0)
#define CMD_INIT_DELAY (0)
#define GIMBAL_INIT_DELAY (0)
#define SHOOT_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 atti_esti;
            osThreadId_t rc;
            osThreadId_t chassis;
            osThreadId_t cmd;
            osThreadId_t gimbal;
            osThreadId_t shoot;
        } thread;

        /* USER MESSAGE BEGIN */
        struct
        {
            osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */

            struct
            {
                struct
                {
                    osMessageQueueId_t rc; // dr16->cmd
                    // osMessageQueueId_t nuc;   // nuc->cmd
                    // osMessageQueueId_t ops_9; // navi->cmd
                } raw;
                osMessageQueueId_t chassis; // cmd->chassis
                // osMessageQueueId_t calc;    // cmd->calc
                // osMessageQueueId_t nuc;     // cmd->nuc
            } cmd;

            struct
            {
                osMessageQueueId_t accl; /* IMU读取 */
                osMessageQueueId_t gyro; /* IMU读取 */
                osMessageQueueId_t eulr; /* 姿态解算得到的欧拉角 */
            } imu;

            struct
            {
                osMessageQueueId_t imu;
                osMessageQueueId_t cmd;
                osMessageQueueId_t yaw6020; /* 新增的 yaw_6020 消息队列 主要是给底盘传6020位置的反馈*/
            } gimbal;

        } 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 */
        Config_t config;
        /* USER CONFIG END */

        /* 各任务的stack使用 */
        struct
        {
            UBaseType_t atti_esti;
            UBaseType_t rc;
            UBaseType_t chassis;
            UBaseType_t cmd;
            UBaseType_t gimbal;
            UBaseType_t shoot;
        } stack_water_mark;

        /* 各任务运行频率 */
        struct
        {
            float atti_esti;
            float rc;
            float chassis;
            float cmd;
            float gimbal;
            float shoot;
        } freq;

        /* 任务最近运行时间 */
        struct
        {
            float atti_esti;
            float rc;
            float chassis;
            float cmd;
            float gimbal;
            float shoot;
        } 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_atti_esti;
    extern const osThreadAttr_t attr_rc;
    extern const osThreadAttr_t attr_chassis;
    extern const osThreadAttr_t attr_cmd;
    extern const osThreadAttr_t attr_gimbal;
    extern const osThreadAttr_t attr_shoot;

    /* 任务函数声明 */
    void Task_Init(void *argument);
    void Task_atti_esti(void *argument);
    void Task_rc(void *argument);
    void Task_chassis(void *argument);
    void Task_cmd(void *argument);
    void Task_gimbal(void *argument);
    void Task_shoot(void *argument);

#ifdef __cplusplus
}
#endif