// app
#include "balance.h"
#include "linkNleg.h"
#include "robot_def.h"
#include "general_def.h"
#include "ins_task.h"
#include "HT04.h"
#include "LK9025.h"
#include "controller.h"
#include "can_comm.h"
#include "super_cap.h"
#include "user_lib.h"
#include "remote_control.h"
#include "referee_task.h"
#include "stdint.h"
#include "arm_math.h" // 需要用到较多三角函数
#include "bsp_dwt.h"
#include "bsp_log.h"

// 计时变量
static uint32_t balance_dwt_cnt;
static float del_t;

// 底盘拥有的实例模块
static INS_t *Chassis_IMU_data;
static RC_ctrl_t *rc_data;  // 底盘单独调试用
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; 

// 四个关节电机和两个驱动轮电机
static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4];   // 指针数组方便传参和调试
static LKMotorInstance *l_driven, *r_driven, *driven[2];

// 两个腿的参数,0为左腿,1为右腿
static LinkNPodParam l_side, r_side;
static ChassisParam chassis;

// 底盘状态
static Robot_Status_e chassis_status;


void BalanceInit()
{
    rc_data = RemoteControlInit(&huart3);
    Chassis_IMU_data = INS_Init();

    // 关节电机
    Motor_Init_Config_s joint_conf = {
        // 写一个,剩下的修改方向和id即可
        .can_init_config = {
            .can_handle = &hcan1},
        .controller_setting_init_config = {
            .close_loop_type = OPEN_LOOP,
            .outer_loop_type = OPEN_LOOP,
            .motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
            .angle_feedback_source = MOTOR_FEED,
            .speed_feedback_source = MOTOR_FEED,
        },
        .motor_type = HT04};
    joint_conf.can_init_config.tx_id = 1;
    joint_conf.can_init_config.rx_id = 11;
    joint[LF] = lf = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 2;
    joint_conf.can_init_config.rx_id = 12;
    joint[LB] = lb = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 3;
    joint_conf.can_init_config.rx_id = 13;
    joint[RF] = rf = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 4;
    joint_conf.can_init_config.rx_id = 14;
    joint[RB] = rb = HTMotorInit(&joint_conf);

    // 驱动轮电机
    Motor_Init_Config_s driven_conf = {
        // 写一个,剩下的修改方向和id即可
        .can_init_config.can_handle = &hcan2,
        .controller_setting_init_config = {
            .angle_feedback_source = MOTOR_FEED,
            .speed_feedback_source = MOTOR_FEED,
            .outer_loop_type = OPEN_LOOP,
            .close_loop_type = OPEN_LOOP,
            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = LK9025,
    };
    driven_conf.can_init_config.tx_id = 2;
    driven[LD] = l_driven = LKMotorInit(&driven_conf);
    driven_conf.can_init_config.tx_id = 1;
    driven[RD] = r_driven = LKMotorInit(&driven_conf);

    // 状态初始化
    chassis_status = ROBOT_READY;
    DWT_GetDeltaT(&balance_dwt_cnt);
}

static void EnableAllMotor() /* 打开所有电机 */
{
    for (uint8_t i = 0; i < JOINT_CNT; i++) // 打开关节电机
        HTMotorEnable(joint[i]);
    for (uint8_t i = 0; i < DRIVEN_CNT; i++) // 打开驱动电机
        LKMotorEnable(driven[i]);
}

void BalanceTask()
{
    
}