/* =============================================================================
 * referee_task.c - 裁判系统链路监测
 * 解析在 USART6 空闲中断完成(referee_parse_bytes 流式喂入),
 * 本任务仅做 100ms 周期的链路超时监测与心跳上报
 * ========================================================================== */
#include "app_tasks.h"
#include "cmsis_os.h"
#include "bsp_usart.h"
#include "referee.h"
#include "referee_ui.h"
#include "c_comm.h"
#include "attitude.h"
#include "robot_param.h"

/* referee_task:裁判系统链路监测
 * 解析在接收中断完成(referee_parse_bytes),本任务仅做超时监测与心跳 */

void referee_frame_callback(const uint8_t * frame, uint16_t len)
{
    referee_parse_bytes(frame, len);
}

void referee_task(void const * argument)
{
    while (!app_ready)
        osDelay(2);

    for (;;)
    {
        /* 链路超时置断线 */
        if (referee.link_status &&
            HAL_GetTick() - referee.last_update_tick > DEVICE_OFFLINE_TIME_MS * 10)
            referee.link_status = 0;

        /* ---- 自定义UI:机器人 -> 裁判系统 -> 选手端 ------------------------
         * 本任务 100ms 一轮,内部按 UI_SEND_HZ 分频(5Hz:约 40 图形/帧,
         * 115200 链路上约 3.8KB/s)。数据来源:
         *   底盘本地 = att_deg_yaw(朝向) + referee(功率/电容)
         *   云台 CToC = pitch + 摩擦轮 L/R 转速(0x1B9) + 云台 yaw(0x1A9) + 陀螺位(0x189)
         * ------------------------------------------------------------------ */
        {
            static uint8_t ui_div = 0;
            if (++ui_div >= (uint8_t)(10 / UI_SEND_HZ))
            {
                ui_div = 0;

                ui_data_t ui;
                ui.pitch_deg   = ctoc_ui_pitch_deg;
                ui.yaw_deg     = ctoc_gimbal_yaw;
                ui.hdg_deg     = att_deg_yaw;
                ui.pwr_w       = referee.chassis_power;
                ui.pwr_limit_w = (float)referee.chassis_power_limit;
                ui.buf_j       = referee.buffer_energy;
                ui.cap_pct     = (uint8_t)(referee.buffer_energy >= 60.0f
                                               ? 100
                                               : (referee.buffer_energy * 100.0f / 60.0f));
                ui.fric_l_rpm  = ctoc_ui_fric_l_rpm;
                ui.fric_r_rpm  = ctoc_ui_fric_r_rpm;
                ui.spin_on     = ctoc_remote.spin_flag;
                ui.ref_online  = referee.link_status;

                referee_ui_update(&ui);
            }
        }

        monitor_heartbeat(HB_REFEREE);
        osDelay(100);
    }
}