/*
 * BHBF_ROBOT.h
 *
 *  Created on: Oct 26, 2023
 *      Author: shiya
 */

#ifndef INC_BHBF_ROBOT_H_
#define INC_BHBF_ROBOT_H_

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>
#include <motors.h>
#include <stdbool.h>



#include "BHBF_ROBOT.h"
#include "bsp_PV.pb.h"
#include "bsp_IV.pb.h"
#include "BSP/bsp_TCPClient.h"
#include "BSP/pb.h"
#include "BSP/pb_decode.h"
#include "BSP/pb_encode.h"
#include "BSP/bsp_EEPROM.h"
#include "BSP/bsp_pb_decode_encode.h"
#include "bsp_MB_host.h"
#include "BSP/bsp_include.h"
#include "BSP/bsp_UART.h"
#include "BSP/DLTuc.h"
#include "BSP/bsp_DLT_Log.h"


#include "BSP/bsp_cpu_flash.h"
#include "BSP/bsp_qspi_w25q128.h"
#include "BSP/bsp_UpperComputer_Handler.h"
#include "BSP/bsp_Error_Detect.h"
#include "BSP/bsp_MB_host.h"

#include "MSP/msp_JTBATTERY.h"

#include "MSP/msp_Force_Sensor.h"
#include "MSP/msp_TL720D.h"
#include "MSP/msp_MK32_1.h"
#include "MSP/msp_Force_Sensor.h"
#include "MSP/msp_WH_LTE_7S0.h"


#include "paint_gun_action.h"
#include "fsm_state_control.h"
#include "change_line_control.h"
#include "fsm_state.h"
#include "robot_move_actions.h"

//#include "robot_state.h"
//FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
//#define VECT_TAB_OFFSET         0x00020000U




#define DLTViewer 1


extern bool CompareTimer_Delay(int32_t Delay);

extern GV_struct_define GV;
extern IV_struct_define IV;
extern  CV_struct_define CV;
extern PV_struct_define decoded_PV;
extern PV_struct_define decoded_PV_variable;

typedef struct  sys_timer_handler
{
	int start_timer;
	int sys_current_timer_count;
	int sys_timer_flag;

}Sys_timer_handler;

extern Sys_timer_handler timer_handler_1;
extern Sys_timer_handler timer_handler_2;
extern Sys_timer_handler timer_handler_3;
extern Sys_timer_handler timer_handler_4;

//first start Timer, then WaitTimer
extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
extern void SystemTimer_Intialize();
extern void GF_Timer_Count();
extern void GF_Robot_Init(void);
extern void GF_Robot_MainLoop(void);
extern void GF_WatchDog_Loop(void);
extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min);

 extern void SET_BIT_1(int32_t* num,int32_t k);

 extern void SET_BIT_0(int32_t* num,int32_t k);
 extern int32_t Get_BIT(int32_t* num,int32_t k);

//A &= ~(1 << bit)



extern int32_t* SystemErrorCode;
extern ErrorData* SystemErrorData;

#define IV_Run_Mode_Maunal 0
#define IV_Run_Mode_Automation 1
#define IV_Run_Mode_EmergencyStop 2
#define IV_Run_Mode_Vertical_LaneChange 3
#define IV_Run_Mode_Horizontal_LaneChange 4
#define IV_Run_Mode_Forward 5
#define IV_Run_Mode_BackWard 6
#define IV_Run_Mode_TurnLeft 7
#define IV_Run_Mode_TurnRight 8
#define IV_Run_Mode_HALT 9

//extern LS_MotorParameters* Frames_Motor[4];


extern int32_t SystemTimeMiliCount;  //2ms加一

#endif /* INC_BHBF_ROBOT_H_ */