/* =============================================================================
 * 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 "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;

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