// app
#include "robot_def.h"
#include "robot_cmd.h"
// module
#include "remote_control.h"
#include "ins_task.h"
#include "master_process.h"
#include "message_center.h"
#include "general_def.h"
#include "dji_motor.h"
#include "auto_aim.h"
#include "super_cap.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"
#include "referee_task.h"
#include "vision_transfer.h"

// 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360

/* cmd应用包含的模块实例指针和交互信息存储*/
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
#include "can_comm.h"
#include "user_lib.h"
static CANCommInstance *cmd_can_comm; // 双板通信CAN comm
// static CANCommInstance *shoot_can_comm; // 双板通信CAN comm#endif
#endif
#ifdef ONE_BOARD
static Publisher_t *chassis_cmd_pub;   // 底盘控制消息发布者
static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
#endif                                 // ONE_BOARD

static Chassis_Ctrl_Cmd_s chassis_cmd_send;      // 发送给底盘应用的信息,包括控制信息和UI绘制相关
static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
static Shoot_Ctrl_Cmd_s shoot_cmd_send;      // 发送给底盘应用的信息,包括控制信息和UI绘制相关
static Shoot_Upload_Data_s shoot_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
extern SuperCapInstance *cap;             // 超级电容
static RC_ctrl_t *rc_data;                // 遥控器数据,初始化时返回
static VT_ctrl_t *vt_data;               // 图传链路下发的键鼠遥控数据 与遥控器数据格式保持一致

//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
//static Vision_Send_s vision_send_data;  // 视觉发送数据
static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
static SendPacket_t vision_send_data;     // 视觉发送数据

//自瞄相关信息
static Trajectory_Type_t trajectory_cal;
static Aim_Select_Type_t aim_select;
static uint32_t no_find_cnt;      // 未发现目标计数
static uint8_t auto_aim_flag = 0; //辅助瞄准标志位  视野内有目标开启 目标丢失关闭
static uint8_t choose_amor_id = 0;
static float yaw_err_for_test;

static Publisher_t *gimbal_cmd_pub;            // 云台控制消息发布者
static Subscriber_t *gimbal_feed_sub;          // 云台反馈信息订阅者
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send;      // 传递给云台的控制信息
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息

static Publisher_t *shoot_cmd_pub;           // 发射控制消息发布者
static Subscriber_t *shoot_feed_sub;         // 发射反馈信息订阅者
static Shoot_Ctrl_Cmd_s shoot_cmd_send;      // 传递给发射的控制信息
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息

static Robot_Status_e robot_state; // 机器人整体工作状态

static referee_info_t *referee_data; // 用于获取裁判系统的数据
static uint8_t loader_flag = 0;      //拨弹模式选择标志位

void RobotCMDInit() {
    rc_data = RemoteControlInit(&huart3);   // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
    vision_recv_data = VisionInit(); // 视觉通信串口
    vt_data = VTRefereeInit(&huart1);   // 图传通信串口
    referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI

    gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
    gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
    shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
    shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));

#ifdef ONE_BOARD // 双板兼容
    chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
    chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
    CANComm_Init_Config_s comm_conf = {
        .can_config = {
            .can_handle = &hcan1,
            .tx_id = 0x312,
            .rx_id = 0x311,
        },
        .recv_data_len = sizeof(Chassis_Upload_Data_s),
        .send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
    };
    // CANComm_Init_Config_s shoot_comm_conf = {
    //         .can_config = {
    //                 .can_handle = &hcan1,
    //                 .tx_id = 0x306,
    //                 .rx_id = 0x305,
    //                 },
    //         .recv_data_len = sizeof(Shoot_Upload_Data_s),
    //         .send_data_len = sizeof(Shoot_Ctrl_Cmd_s),
    // };
    cmd_can_comm = CANCommInit(&comm_conf);
    // shoot_can_comm = CANCommInit(&shoot_comm_conf);
#endif // GIMBAL_BOARD
    gimbal_cmd_send.pitch = 0;

    robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
}

/**
 * @brief 根据gimbal app传回的当前电机角度计算和零位的误差
 *        单圈绝对角度的范围是0~360,说明文档中有图示
 *
 */
static void CalcOffsetAngle() {
    // 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
    static float angle;
    angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
#if YAW_ECD_GREATER_THAN_4096                               // 如果大于180度
    if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
    else if (angle > 180.0f + YAW_ALIGN_ANGLE)
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
    else
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
#else // 小于180度
    if (angle > YAW_ALIGN_ANGLE)
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
    else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
    else
        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
#endif
}

//功能：死亡后清除小陀螺的状态
static void death_check()
{
    if(referee_data->GameRobotState.current_HP <= 0 || referee_data->GameRobotState.power_management_chassis_output == 0)
    {
        rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
    }
}

//功能：等级提升弹频提高
// static void shoot_rate_improve()
// {
//     if(referee_data->GameRobotState.robot_level <= 5)
//         // chassis_cmd_send.shoot_rate = 18;
//     if(referee_data->GameRobotState.robot_level >= 5)
//         // chassis_cmd_send.shoot_rate = 25;
// }

static void update_ui_data() {
    ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
    //ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
    ui_data.friction_mode = shoot_cmd_send.friction_mode;
    //ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
    ui_data.lid_mode = shoot_cmd_send.lid_mode;
    ui_data.heat_mode = shoot_cmd_send.heat_mode;
    ui_data.aim_fire = aim_select.suggest_fire;
    //ui_data.loader_mode = shoot_cmd_send.loader_mode;

    ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
    ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
}

static void auto_aim_mode() {
    trajectory_cal.v0 = 20; //弹速30
    if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
        && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
        aim_select.suggest_fire = 0;
        //未发现目标
        no_find_cnt++;

        if (no_find_cnt >= 2000) {
            //gimbal_scan_flag = 1;
            //auto_aim_flag = 0;
        }
        //else
        //auto_aim_flag = 1;
    } else {
        //弹道解算
        no_find_cnt = 0;
        auto_aim_flag = 1;

        choose_amor_id = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);

        VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);

        float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
        float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
        float yaw_err = diff_yaw;
        yaw_err_for_test = yaw_err;

        if(diff_yaw>180)
            diff_yaw -= 360;
        else if(diff_yaw<-180)
            diff_yaw += 360;

        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;

        gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;

        if (yaw_err <= 2) //3度
        {
            aim_select.suggest_fire = 1;
        }
        else
            aim_select.suggest_fire = 0;
    }
}

/**
 * @brief 控制输入为遥控器(调试时)的模式和控制量设置
 *
 */
static void RemoteControlSet() {
    // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
    {
        chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;

    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
    {
        // chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
        chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
        shoot_cmd_send.lid_mode = LID_CLOSE;
        // chassis_cmd_send.loader_mode = LOAD_BURSTFIRE;
    }
    else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
    {
        shoot_cmd_send.lid_mode = LID_OPEN;
    }

    // 云台参数,确定云台控制数据
    if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
        (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
         && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
         vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制
    {
        // 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
        // ...
        aim_select.suggest_fire = 0;
        gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
        gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;

        if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
        if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;

    }
    // 左侧开关状态为[下],视觉模式

    if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
        auto_aim_mode();
    }
    // 云台软件限位

    // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
    chassis_cmd_send.vx = 8.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
    chassis_cmd_send.vy = 8.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向

    // 发射参数
    if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
        ;                                            // 弹舱舵机控制,待添加servo_motor模块,开启
    else; // 弹舱舵机控制,待添加servo_motor模块,关闭


    // 摩擦轮控制,拨轮向上打为负,向下为正
    if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
        shoot_cmd_send.friction_mode = FRICTION_ON;
    else
        shoot_cmd_send.friction_mode = FRICTION_OFF;

    // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
    if (rc_data[TEMP].rc.dial < -500)//
        chassis_cmd_send.enable_flag = 1;
    else
        chassis_cmd_send.enable_flag = 0;

    // 视觉控制发射
//    if (aim_select.suggest_fire == 1) {
//        //shoot_cmd_send.friction_mode = FRICTION_ON;
//        //shoot_cmd_send.shoot_mode = SHOOT_ON;
//        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
//    } else {
//        //shoot_cmd_send.friction_mode = FRICTION_OFF;
//        shoot_cmd_send.load_mode = LOAD_STOP;
//    }

    // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
    // chassis_cmd_send.shoot_rate = -45;

    // if(chassis_fetch_data.stalled_flag ==1)
    //   chassis_cmd_send.loader_mode = LOAD_REVERSE;
}

static void hand_aim_mode() {
//    gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测
//    gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
}

/**
 * @brief 输入为键鼠时模式和控制量设置
 *
 */
static void MouseKeySet() {
    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测
    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;

    gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
    gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;

    if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
    if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;

    aim_select.suggest_fire = 0;
    if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
    {
        if (shoot_cmd_send.friction_mode == FRICTION_ON) {
            shoot_cmd_send.shoot_mode = SHOOT_ON;
            if(loader_flag == 0){
                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
            }else if(loader_flag == 1){
                shoot_cmd_send.loader_mode = LOAD_3_BULLET;
            }else
                shoot_cmd_send.loader_mode = LOAD_1_BULLET;
        }
    } else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r))
    {
        shoot_cmd_send.loader_mode = LOAD_STOP;
    }
    if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
    {
        if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
             && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
             vision_recv_data->vz == 0))
        {
            shoot_cmd_send.loader_mode = LOAD_STOP;
        } else {
            auto_aim_mode();
            if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
                shoot_cmd_send.friction_mode == FRICTION_ON) {
                shoot_cmd_send.shoot_mode = SHOOT_ON;
                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
            } else {
                shoot_cmd_send.loader_mode = LOAD_STOP;
            }
        }
    }

    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
    {
        case 1:
            MyUIInit();
            rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
            break;
        default:
            break;
    }
    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
    {
        case 0:
            HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
            break;
        default:
            HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET);
            break;
    }
    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
    {
        case 0:
            shoot_cmd_send.shoot_mode = SHOOT_OFF;
            shoot_cmd_send.friction_mode = FRICTION_OFF;
            break;
        default:
            shoot_cmd_send.shoot_mode = SHOOT_ON;
            shoot_cmd_send.friction_mode = FRICTION_ON;
            break;
    }
    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
    {
        case 0:
            shoot_cmd_send.lid_mode = LID_CLOSE;
            break;
        default:
            shoot_cmd_send.lid_mode = LID_OPEN;
            break;
    }
    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
    {
        case 0:
            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
            break;
        default:
            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
            break;
    }
    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
    {
        case 0:
            shoot_cmd_send.heat_mode = HEAT_OPEN;
            break;
        default:
            shoot_cmd_send.heat_mode = HEAT_CLOSE;
            break;
    }
//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
//    {
//        case 0:
//            loader_flag = 0;
//            break;
//        case 1:
//            loader_flag = 1;
//            break;
//        default:
//            loader_flag = 3;
//            break;
//    }
    switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
    {
        case 0:
            chassis_cmd_send.buffer_supercap = 5;
            break;
        case 1:
            chassis_cmd_send.buffer_supercap = 200;
            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
            break;
    }

    // shoot_rate_improve();

    if(shoot_fetch_data.stalled_flag ==1)
        shoot_cmd_send.loader_mode = LOAD_REVERSE;

    death_check();
}

/**
 * @brief 输入为（图传链路）键鼠时模式和控制量设置
 *
 */
static void VTMouseKeySet()
{
    chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 小 3000 3000
    chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000;

    gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
    gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;

    if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
    if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;

    aim_select.suggest_fire = 0;
    if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式
    {
        if (shoot_cmd_send.friction_mode == FRICTION_ON) {
            shoot_cmd_send.shoot_mode = SHOOT_ON;
            shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
        }
    } else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r))
    {
        shoot_cmd_send.loader_mode = LOAD_STOP;

    }
    if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式
    {
        if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
             && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
             vision_recv_data->vz == 0))
        {
            shoot_cmd_send.loader_mode = LOAD_STOP;
        } else {
            auto_aim_mode();
            if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l &&
                shoot_cmd_send.friction_mode == FRICTION_ON) {
                shoot_cmd_send.shoot_mode = SHOOT_ON;
                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
            } else {
                shoot_cmd_send.loader_mode = LOAD_STOP;
            }
        }
    }

    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
    {
        case 1:
            MyUIInit();
            vt_data[TEMP].key_count[KEY_PRESS][Key_R]++;
            break;
        default:
            break;
    }
    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
    {
        case 0:
            HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
            break;
        default:
            HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET);
            break;
    }
    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
    {
        case 0:
            shoot_cmd_send.shoot_mode = SHOOT_OFF;
            shoot_cmd_send.friction_mode = FRICTION_OFF;
            break;
        default:
            shoot_cmd_send.shoot_mode = SHOOT_ON;
            shoot_cmd_send.friction_mode = FRICTION_ON;
            break;
    }
    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
    {
        case 0:
            shoot_cmd_send.lid_mode = LID_CLOSE;
            break;
        default:
            shoot_cmd_send.lid_mode = LID_OPEN;
            break;
    }
    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
    {
        case 0:
            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
            break;
        default:
            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
            break;
    }
    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
    {
        case 0:
            shoot_cmd_send.heat_mode = HEAT_OPEN;
            break;
        default:
            shoot_cmd_send.heat_mode = HEAT_CLOSE;
            break;
    }
//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
//    {
//        case 0:
//            loader_flag = 0;
//            break;
//        case 1:
//            loader_flag = 1;
//            break;
//        default:
//            loader_flag = 3;
//            break;
//    }
    switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
    {
        case 0:
            chassis_cmd_send.buffer_supercap = 5;
            break;
        case 1:
            chassis_cmd_send.buffer_supercap = 200;
            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
            break;
    }

    // shoot_rate_improve();

    if(shoot_fetch_data.stalled_flag ==1)
        shoot_cmd_send.loader_mode = LOAD_REVERSE;

    death_check();
}


/**
 * @brief  紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
 *         停止的阈值'300'待修改成合适的值,或改为开关控制.
 *
 * @todo   后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
 *
 */
static void EmergencyHandler() {
    // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
    if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
    {
        robot_state = ROBOT_STOP;
        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
        chassis_cmd_send.enable_flag = 0;
        shoot_cmd_send.friction_mode = FRICTION_OFF;
        // chassis_cmd_send.loader_mode = LOAD_STOP;
        LOGERROR("[CMD] emergency stop!");
    }
    // 遥控器右侧开关为[上],恢复正常运行
    if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
        robot_state = ROBOT_READY;
        chassis_cmd_send.enable_flag = 1;
        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
        LOGINFO("[CMD] reinstate, robot ready");
    }
}

/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
void RobotCMDTask() {
    // 从其他应用获取回传数据
#ifdef ONE_BOARD
    SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
    chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
    // shoot_fetch_data = *(Shoot_Upload_Data_s *)CANCommGet(shoot_can_comm);
#endif // GIMBAL_BOARD
    SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
    SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
    update_ui_data();
    // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
    CalcOffsetAngle();
    EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
    if (robot_state != ROBOT_STOP ){
        // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
        if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
            switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
            RemoteControlSet();
        else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
                 switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
            MouseKeySet();
        else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
                 switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
            VTMouseKeySet();
    }

    // 设置视觉发送数据,还需增加加速度和角速度数据
    VisionSetFlag(!referee_data->referee_id.Robot_Color);

    //根据裁判系统反馈确定底盘功率上限
    chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
    //根据裁判系统反馈确定缓冲功率
    chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
    //根据裁判系统反馈确定枪管热量控制
    // shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
    // shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
    // shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;

    if(referee_data->GameRobotState.power_management_chassis_output == 0){
        // chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
    }
    if(referee_data->GameRobotState.power_management_gimbal_output == 0){
        // gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
    }
    if (referee_data->GameRobotState.power_management_shooter_output == 0){
        // shoot_cmd_send.shoot_mode = SHOOT_OFF;
    }

    death_check();
    // 推送消息,双板通信,视觉通信等
    // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
#ifdef ONE_BOARD
    PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
    CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
    // CANCommSend(shoot_can_comm,(void *)&shoot_cmd_send);
#endif // GIMBAL_BOARD
    // PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
    PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);

}