/*
 * change_line_control.h
 *
 *  Created on: 2025年8月12日
 *      Author: xsq
 */

#ifndef FSM_INC_CHANGE_LINE_CONTROL_H_
#define FSM_INC_CHANGE_LINE_CONTROL_H_


typedef enum _vertical_LaneChangeState
{
	VerticalChange_TurnToUP,
	VerticalChange_TurnToDown,
	VerticalChange_TurnToLeft,
	VerticalChange_TurnToRight,
	VerticalChange_DelayMove,
	VerticalChange_End,
	VerticalChange_StateZero,
   //0---6
} Lane_Vertical_ChangeState;
/**********************************************************/
typedef enum _horizontal_LaneChangeState
{
	HorizontalChange_TurnToUP,
	HorizontalChange_TurnToDown,
	HorizontalChange_TurnToLeft,
	HorizontalChange_TurnToRight,
	HorizontalChange_DelayMove,
	HorizontalChange_End,
	HorizontalChange_StateZero,

} Lane_Horizontal_ChangeState;
/***********************************************************************/
//设置  换道距离和设置后退距离
typedef enum _laneChangeControlSTATE_t
{
	Lane_Change_Stop = 0, Lane_Change_Start,

} LaneChangeControlSTATE;
/*****************************************************************************/
extern Lane_Vertical_ChangeState   Current_Vertical_ChangeState;

extern LaneChangeControlSTATE VerticalLaneChangeState; /*当前换道处于开始或者结束*/
extern int LaneChangeControl_Paint();



extern void Vertical_Lane_Change_From_Left_To_Right_UP_Control();
extern void Vertical_Lane_Change_From_Left_To_Right_Down_Control();
extern void Vertical_Lane_Change_From_Right_To_Left_UP_Control();
extern void Vertical_Lane_Change_From_Right_To_Left_Down_Control();

extern int LaneChangeWaittime ;
#endif /* FSM_INC_CHANGE_LINE_CONTROL_H_ */