/*
    ai Task
    
*/

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

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
PackageAI_t ai;
PackageMCU_t mcu;
AI_result_t ai_result;
AHRS_Quaternion_t quat;
Gimbal_feedback_t gimbal_motor;
PackageMCU_t shoot_mcu_package; /* 新增的 ai 数据包 主要是给自瞄发送射击数量*/
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ai(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() / AI_FREQ;

  osDelay(AI_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 */

  /* 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.gimbal.ai.quat, &quat, NULL, 0);  
    osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
		osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0);
    MCU_Send(&mcu,&gimbal_motor,&quat);  
    mcu.data.bullet_count=shoot_mcu_package.data.bullet_count; /* 从 shoot 任务获取射击数量并放入 mcu 数据包中 */                           
		MCU_StartSend(&mcu);
		
		AI_StartReceiving(&ai);		
		AI_Get_NUC(&ai,&ai_result);		
    osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
    osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_result, 0, 0);	
    osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_result, 0, 0);
    osMessageQueuePut(task_runtime.msgq.navi.c_cmd, &ai_result, 0, 0); /* 将 ai_result 中的射击命令布尔值发送给 shoot 任务 */
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}