/*
    Init Task
    任务初始化，创建各个线程任务和消息队列
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"

/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/AT9S_Pro.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "module/chassis.h"
#include "module/track.h"
#include "device/referee.h"
#include "module/vision_bridge.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化
 *
 * \param argument 未使用
 */
void Task_Init(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */
    /* USER CODE INIT BEGIN */

    /* USER CODE INIT END */
  osKernelLock(); /* 锁定内核，防止任务切换 */
  //Power-en
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);
  /* 创建任务线程 */
  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
  task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
  task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
  task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
  task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
  task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap);
  task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
  task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);

  // 创建消息队列
  /* USER MESSAGE BEGIN */
  /* cmd */
  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
#if CMD_RCTypeTable_Index == 0
  task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
#elif CMD_RCTypeTable_Index == 1
  task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL);
#endif
	/* 底盘 */
  task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL);
  task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(Chassis_CMD_t), NULL);
  	/* 云台 */
  task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
  task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
	/* 发射 */
  task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
  /* 履带 */
  task_runtime.msgq.track.cmd = osMessageQueueNew(2u, sizeof(Track_CMD_t), NULL);
  /* AI */
  task_runtime.msgq.ai.rawdata_FromGimbal = osMessageQueueNew(2u, sizeof(Gimbal_Feedback_t), NULL);
  task_runtime.msgq.ai.rawdata_FromIMU = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
  task_runtime.msgq.ai.rawdata_FromShoot = osMessageQueueNew(2u, sizeof(Shoot_AI_t), NULL);
  /* cmd.nuc: AI task -> cmd task 的指令队列 */
  task_runtime.msgq.cmd.nuc = osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);
	/* 裁判系统 */
	task_runtime.msgq.referee.tocmd.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);		
	task_runtime.msgq.referee.tocmd.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);	
	task_runtime.msgq.referee.tocmd.chassis= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);				
	task_runtime.msgq.referee.tocmd.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
	/* cmd转发给各模块的裁判数据队列 */
	task_runtime.msgq.chassis.ref = osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
	task_runtime.msgq.shoot.ref   = osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
	task_runtime.msgq.ai.ref      = osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);
	task_runtime.msgq.cap.ref     = osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);		
	/* UI */	
  task_runtime.msgq.referee.ui.tochassis =osMessageQueueNew(2u, sizeof(Chassis_RefereeUI_t), NULL);
  task_runtime.msgq.referee.ui.tocap =osMessageQueueNew(2u, sizeof(Cap_RefereeUI_t), NULL);
  task_runtime.msgq.referee.ui.togimbal =osMessageQueueNew(2u, sizeof(Gimbal_RefereeUI_t), NULL);
  task_runtime.msgq.referee.ui.toshoot =osMessageQueueNew(2u, sizeof(Shoot_RefereeUI_t), NULL);
  task_runtime.msgq.referee.ui.tocmd = osMessageQueueNew(2u, sizeof(bool), NULL);
  task_runtime.msgq.referee.ui.frcmd = osMessageQueueNew(2u, sizeof(Referee_UI_CMD_t), NULL);
  /* USER MESSAGE END */

  osKernelUnlock(); // 解锁内核
  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}