/* =============================================================================
 * debug_task.c - USB 虚拟串口(CDC)诊断输出(仅诊断用,稳定后可整组移除)
 * 每 500ms 一行状态:各芯片实测 ID/DR16 帧计数/USART 空闲中断计数/任务循环
 * 计数等;板子插电脑出现虚拟 COM 口,串口助手打开即可(波特率随意)。
 * 字段含义见重构说明与编译指南.md 的诊断章节
 * ========================================================================== */
#include "debug_task.h"
#include "app_tasks.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "task.h"
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "usart.h"
#include "bsp_can.h"
#include "bsp_usart.h"
#include <stdio.h>
#include "dr16.h"
#include "referee.h"
#include "c_comm.h"
#if defined(ROBOT_TYPE_GIMBAL)
#include "bmi088.h"
#include "ist8310.h"
#include "ins.h"
#include "attitude.h"
#include "gimbal.h"
#elif defined(ROBOT_TYPE_CHASSIS)
#include "chassis.h"
#include "bmi088.h"
#include "ins.h"
#include "robot_typedef.h"
#endif

/* debug_task:USB 虚拟串口(CDC)诊断输出,每 500ms 一行
 * 板子插上电脑会出现虚拟 COM 口,用串口助手打开即可看到(波特率随意)
 * 输出为纯整数,用于远程定位传感器/通讯初始化问题 */

/* 各模块导出的诊断变量(定义在 imu_task.c / can_task.c) */
extern volatile uint32_t dbg_imu_loop;
extern volatile uint32_t dbg_can_loop;

void debug_task(void const * argument)
{
    char line[128];

    for (;;)
    {
        int len = 0;
#if defined(ROBOT_TYPE_GIMBAL)
        len = snprintf(line, sizeof(line),
                       "app=%u can=%u imu=%u acc=%02X gyro=%02X bmi=%u ist=%u who=%02X "
                       "cvg=%u ys=%d yaw=%.1f u3g=%02X i3=%u l3=%u d16=%u ref=%u/%u mot=%u\r\n",
                       app_ready, dbg_can_loop, dbg_imu_loop,
                       bmi088_last_acc_id, bmi088_last_gyro_id, bmi088_online,
                       ist8310_online, ist8310_last_who,
                       INS.ConvergeFlag,
                       (int)gimbal_yaw_sign(), att_deg_yaw,
                       (unsigned)(huart3.gState), dbg_usart3_idle, dbg_usart3_last_len,
                       dr16_frame_count,
                       referee.link_status, (unsigned)(HAL_GetTick() - referee.last_update_tick),
                       gimbal_motor_offline());
#elif defined(ROBOT_TYPE_CHASSIS)
        len = snprintf(line, sizeof(line),
                       "app=%u can=%u imu=%u acc=%02X gyro=%02X cvg=%u "
                       "ctoc=%u/%u att=%u/%d mot=%u md=%u err=%.1f fw=%d spin=%u lim=%u\r\n",
                       app_ready, dbg_can_loop, dbg_imu_loop,
                       bmi088_last_acc_id, bmi088_last_gyro_id,
                       INS.ConvergeFlag,
                       ctoc_remote.status,
                       (unsigned)(ctoc_remote.last_tick ? HAL_GetTick() - ctoc_remote.last_tick : 0),
                       ctoc_att_fresh(), (int)ctoc_gimbal_yaw,
                       chassis_motor_offline(),
                       cmd_robot.chassis_mode,
                       dbg_follow_err_deg, (int)dbg_follow_out,
                       ctoc_remote.spin_flag, referee.chassis_power_limit);
#endif
        if (len > 0)
            CDC_Transmit_FS((uint8_t *)line, (uint16_t)len);

        osDelay(500);
    }
}