/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "app_tasks.h"
#include "snc_can_app.h"


/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
/* 导航控制任务 (动态创建，不经 CubeMX 管理) */
static osThreadId_t navTaskHandle;
static const osThreadAttr_t navTask_attributes = {
  .name = "navTask",
  .stack_size = 1024 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal,
};
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for canTxTask */
osThreadId_t canTxTaskHandle;
const osThreadAttr_t canTxTask_attributes = {
  .name = "canTxTask",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal,
};
/* Definitions for monitorTask */
osThreadId_t monitorTaskHandle;
const osThreadAttr_t monitorTask_attributes = {
  .name = "monitorTask",
  .stack_size = 1024 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for laserTestTask */
osThreadId_t laserTestTaskHandle;
const osThreadAttr_t laserTestTask_attributes = {
  .name = "laserTestTask",
  .stack_size = 4096 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for vl53Task */
osThreadId_t vl53TaskHandle;
const osThreadAttr_t vl53Task_attributes = {
  .name = "vl53Task",
  .stack_size = 1024 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for imuTask */
osThreadId_t imuTaskHandle;
const osThreadAttr_t imuTask_attributes = {
  .name = "imuTask",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for logMutex */
osMutexId_t logMutexHandle;
const osMutexAttr_t logMutex_attributes = {
  .name = "logMutex"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void StartCanTxTask(void *argument);
void StartMonitorTask(void *argument);
void AppTasks_RunLaserTestTask(void *argument);
void StartVl53Task(void *argument);
void StartImuTask(void *argument);

extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
  AppTasks_Init();
  /* USER CODE END Init */
  /* Create the mutex(es) */
  /* creation of logMutex */
  logMutexHandle = osMutexNew(&logMutex_attributes);

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of canTxTask */
  canTxTaskHandle = osThreadNew(StartCanTxTask, NULL, &canTxTask_attributes);

  /* creation of monitorTask */
  monitorTaskHandle = osThreadNew(StartMonitorTask, NULL, &monitorTask_attributes);

  /* creation of laserTestTask */
  laserTestTaskHandle = osThreadNew(AppTasks_RunLaserTestTask, NULL, &laserTestTask_attributes);

  /* creation of vl53Task */
  vl53TaskHandle = osThreadNew(StartVl53Task, NULL, &vl53Task_attributes);

  /* creation of imuTask */
  imuTaskHandle = osThreadNew(StartImuTask, NULL, &imuTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* 动态孵化导航控制任务，不需要在 CubeMX 中添加 */
  navTaskHandle = osThreadNew(AppTasks_RunNavTask_Impl, NULL, &navTask_attributes);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartCanTxTask */
/**
* @brief Function implementing the canTxTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCanTxTask */
void StartCanTxTask(void *argument)
{
  /* USER CODE BEGIN StartCanTxTask */
  /*
   * 保持 CubeMX 生成的任务壳不变：
   * 20ms 发送节拍与具体业务逻辑统一放在 app_tasks.c 中维护，
   * 降低后续重新生成代码时的冲突风险。
   */
  AppTasks_RunCanTxTask(argument);
  /* USER CODE END StartCanTxTask */
}

/* USER CODE BEGIN Header_StartMonitorTask */
/**
* @brief Function implementing the monitorTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartMonitorTask */
void StartMonitorTask(void *argument)
{
  /* USER CODE BEGIN StartMonitorTask */
  /*
   * 保持 CubeMX 生成的任务壳不变：
   * 100ms 监控任务逻辑下沉到 app_tasks.c，
   * 这里仅做入口转发，便于与自动生成框架解耦。
   */
    AppTasks_RunMonitorTask(argument);
  // (void)argument;
  // for (;;)
  // {
  //   osDelay(1000);
  // }
  /* USER CODE END StartMonitorTask */
}

/* USER CODE BEGIN Header_AppTasks_RunLaserTestTask */
/**
* @brief Function implementing the laserTestTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_AppTasks_RunLaserTestTask */
void AppTasks_RunLaserTestTask(void *argument)
{
  /* USER CODE BEGIN AppTasks_RunLaserTestTask */
  /* Infinite loop */
  // AppTasks_RunLaserTestTask_Impl(argument);
  AppTasks_RunLaserTestTask_Impl(argument);
  // (void)argument;
  // for (;;)
  // {
  //   osDelay(1000);
  // }
  /* USER CODE END AppTasks_RunLaserTestTask */
}

/* USER CODE BEGIN Header_StartVl53Task */
/**
* @brief Function implementing the vl53Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartVl53Task */
void StartVl53Task(void *argument)
{
  /* USER CODE BEGIN StartVl53Task */
  /* Infinite loop */
  AppTasks_RunVl53Task_Impl(argument);

  /* USER CODE END StartVl53Task */
}

/* USER CODE BEGIN Header_StartImuTask */
/**
* @brief Function implementing the imuTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartImuTask */
void StartImuTask(void *argument)
{
  /* USER CODE BEGIN StartImuTask */
  /* Infinite loop */
  AppTasks_RunImuTask_Impl(argument);

  /* USER CODE END StartImuTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */