/* =============================================================================
 * shoot_task.c - 发射机构任务(2ms)
 * shoot_control() 计算摩擦轮/拨弹电流 -> shoot_send_cmd() 发 0x200;
 * 拨弹电流由云台任务与 Pitch 共帧发送;发射机构上电状态来自底盘 0x019
 * ========================================================================== */
#include "app_tasks.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "task.h"
#include "robot_typedef.h"
#include "gimbal.h"
#include "shoot.h"
#include "c_comm.h"
#include "dr16.h"
#include "shoot_detect_task.h"

/* shoot_task(云台板,2ms):摩擦轮/拨弹控制
 * 发射机构上电状态来自底盘 0x019(ctoc_shooter_power) */

void shoot_task(void const * argument)
{
    TickType_t last_wake = xTaskGetTickCount();

    shoot_detect_init();

    while (!app_ready)
        osDelay(2);

    for (;;)
    {
        if (cmd_robot.online && !gimbal_motor_offline() && !ctoc_chassis_fault())
        {
            shoot_control(cmd_robot.friction_on, cmd_robot.fire, cmd_robot.eject,
                          ctoc_shooter_power);
            shoot_send_cmd();
            shoot_detect_update();
        }
        else
        {
            shoot_output_zero();
        }

        monitor_heartbeat(HB_SHOOT);
        vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(2));
    }
}