/*
    cmd Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/AT9S_Pro.h"
#include "module/config.h"
#include "module/chassis.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "module/track.h"
#include "module/cmd/cmd.h"
#include "bsp/fdcan.h"
//#define DEAD_AREA 0.05f
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define AI_CMD_CAN_ID        (0x101u)
#define AI_CMD_CAN_DLC       (5u)  /* 1字节mode + 2字节yaw + 2字节pit */
#define AI_CMD_ANGLE_SCALE   (10000.0f)  /* 0.0001 rad per LSB */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
#if CMD_RCTypeTable_Index == 0
DR16_t cmd_dr16;
#elif CMD_RCTypeTable_Index == 1
AT9S_t cmd_at9s;
#endif
AI_cmd_t cmd_ai;

Shoot_CMD_t    *cmd_for_shoot;
Chassis_CMD_t  *cmd_for_chassis;
Gimbal_CMD_t   *cmd_for_gimbal;
Track_CMD_t    *cmd_for_track;
static CMD_t cmd;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd);
/* Exported functions ------------------------------------------------------- */
void Task_cmd(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() / CMD_FREQ;

  osDelay(CMD_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 */
  CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
  
  /* 注册CAN接收ID */
  BSP_FDCAN_RegisterId(BSP_FDCAN_2, AI_CMD_CAN_ID, BSP_FDCAN_DEFAULT_QUEUE_SIZE);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    #if CMD_RCTypeTable_Index == 0
    osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
    #elif CMD_RCTypeTable_Index == 1
    osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
    #endif
    
    /* 从CAN2接收AI命令 */
    BSP_FDCAN_Message_t can_msg;
    if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, AI_CMD_CAN_ID, &can_msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
      AI_ParseCmdFromCan(&can_msg, &cmd_ai);
    }

    CMD_Update(&cmd);
    
    /* 获取命令发送到各模块 */
    cmd_for_chassis = CMD_GetChassisCmd(&cmd);
    cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
    cmd_for_shoot = CMD_GetShootCmd(&cmd);
    cmd_for_track = CMD_GetTrackCmd(&cmd);
	osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
    osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
	osMessageQueueReset(task_runtime.msgq.shoot.cmd);
    osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
	osMessageQueueReset(task_runtime.msgq.chassis.cmd);
    osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
	osMessageQueueReset(task_runtime.msgq.track.cmd);
    osMessageQueuePut(task_runtime.msgq.track.cmd, cmd_for_track, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
  
}

/* 从CAN消息解析AI命令 (mode + yaw + pit) */
static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd) {
  if (msg == NULL || cmd == NULL || msg->dlc < AI_CMD_CAN_DLC) {
    return;
  }
  
  /* 解析mode (1字节) */
  cmd->mode = msg->data[0];
  
  /* 解析yaw (2字节，高字节在前) */
  int16_t yaw_raw = (int16_t)((msg->data[1] << 8) | msg->data[2]);
  cmd->gimbal.setpoint.yaw = (float)yaw_raw / AI_CMD_ANGLE_SCALE;
  
  /* 解析pit (2字节，高字节在前) */
  int16_t pit_raw = (int16_t)((msg->data[3] << 8) | msg->data[4]);
  cmd->gimbal.setpoint.pit = (float)pit_raw / AI_CMD_ANGLE_SCALE;
  
  /* 其他字段根据需要可以初始化为0 */
  cmd->gimbal.vel.yaw = 0.0f;
  cmd->gimbal.vel.pit = 0.0f;
  cmd->gimbal.accl.yaw = 0.0f;
  cmd->gimbal.accl.pit = 0.0f;
}