//
// Created by cfif on 20.01.2026.
//
#include "LinActuatorWork.h"

void LinActuatorWork(tMma *env) {

    if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {

        // Если актуатор не занят
        if (env->linTaskActuator0.busy == false) {

            for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {

                env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
                env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
                env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];

                // Если команда выполнена
                if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
#if (LOG_LIN_ACTUATOR == 1)
                    LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
#endif
                    // Установка входной команды в LIN_ACT_CFR_NONE
                    env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
                }

                env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
                env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
                env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
                env->linTaskActuator0.linCommandActuator[i].Autos_SET = env->rtY_local.Out1.Autos_SET[i];
                env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i];
                env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i];

                env->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t) env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
                env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Emrf_Slave;
                env->rtU_local.in_Mode_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Mode_Slave;
                env->rtU_local.in_Act_Err1_Supply_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave;
                env->rtU_local.in_Act_Err2_Communication_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave;
                env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave;
                env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave;
                env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave;
                env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
            }

            env->isActuatorWorkBusy = setBusy(&env->linTaskActuator0);

            env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
            env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
        }

        osMutexRelease(env->linTaskActuator0.access);
    }


    if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {

        // Если принята команда
        if (env->ModelTask.triggerCommand == true) {
#if (LOG_LIN_ACTUATOR == 1)
            LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
#endif
            //
            env->rtU_local.in_Busy_Ch0 = 1;
        }

        // Если прията команда и актуатор не занят
        if ((env->ModelTask.triggerCommand == true) && (env->isActuatorWorkBusy == false)) {

            env->ModelTask.triggerCommand = false;
            env->isActuatorWorkBusy = true;

            // Сброс STALL в состоянии актуатор и локальном состоянии
            resetStall(&env->linTaskActuator0, (uint8_t *) env->rtU_local.in_Act_Stall_Slave_Ch0);

            // Копирование команд
            for (uint8_t i = 0; i < 9; ++i) {
                rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
            }

            // ВЫХОД МОДЕЛИ (АКТУАТОР)
            memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
        }

        // ВХОДЫ МОДЕЛИ
        memcpy(&rtU, &env->rtU_local, sizeof(ExtU));

        osMutexRelease(env->ModelTask.access);
    }


}