/*
 * thicknessDataCollection.c
 *
 *  Created on: Nov 7, 2025
 *      Author: BingooRobotFJX
 */

#include "thicknessDataCollection.h"

DataCollection_Continuous_STATE Current_DataCollection_Continuous_STATE;

DataCollection_Single_STATE Current_DataCollection_Single_STATE;

uint32_t Film_Thickness_index_Start = 0;
int IsSaveIndex = 0;

int IsThickness_Measureing = 0;
int Thickness_DoMeasureing = 0;
int Thickness_DoMeasureing_Last = 0;

int TiltControl_Time_ms = 3000;

/*添加霍尔接近开关和轻触开关限位 单次测量*/
int thicknessDataCollection_Single_Sensor()
{
	switch (Current_DataCollection_Single_STATE)
	{

		case DataCollection_Single_Pre:
			//IsThickness_Measureing = 1;
			//记录数据索引
			if (IsSaveIndex == 0)
			{
				Film_Thickness_index_Start = GV.Film_Thickness_index;
				IsSaveIndex = 1;
			}
			//下压推杆进行漆膜测厚
			fsm_state_set(&current_tilt_state, &tilt_down_state);
			if(GV.IO.DI0 == GPIO_PIN_RESET)//下压直至霍尔开关触发，开启计时
			{
				timer_handler_1.start_timer = 1;
				Current_DataCollection_Single_STATE  = DataCollection_Single_Start;
			}
			break;

		case DataCollection_Single_Start:
			/*****下降等待时间或者行程开关触发开始检查是否有数据，有就上升推杆，没有就等待超时上升*****/
			if (CompareTimer(2000, &timer_handler_1))
			{
				fsm_state_set(&current_tilt_state, &tilt_halt_state);
				Current_DataCollection_Single_STATE  = DataCollection_Single_Complete;
				//测量超时即时
				timer_handler_1.start_timer = 1;

			}
			if(GV.IO.DI1 == GPIO_PIN_RESET)//行程开关触发
			{
				fsm_state_set(&current_tilt_state, &tilt_halt_state);
				Current_DataCollection_Single_STATE  = DataCollection_Single_Complete;
				//测量超时即时
				timer_handler_1.start_timer = 1;

			}

			break;

		case DataCollection_Single_Complete:
			//等待测量结束
			if (GV.Film_Thickness_index != Film_Thickness_index_Start)
			{

				//上升推杆
				fsm_state_set(&current_tilt_state, &tilt_up_state);
				//推杆上升定时
				timer_handler_1.start_timer = 1;
				Current_DataCollection_Single_STATE  = DataCollection_Single_Complete2;


			}
			else //测量超时的情况
			{
				if (CompareTimer(2 * TiltControl_Time_ms, &timer_handler_1))
				{
					//上升推杆
					fsm_state_set(&current_tilt_state, &tilt_up_state);

					//推杆上升定时
					timer_handler_1.start_timer = 1;
					Current_DataCollection_Single_STATE  = DataCollection_Single_Complete2;

				}
			}

			break;
		case DataCollection_Single_Complete2:
			if (CompareTimer(TiltControl_Time_ms, &timer_handler_1))
			{
				//标志位复位
				IsSaveIndex = 0;
				fsm_state_set(&current_tilt_state, &tilt_halt_state);
				return 0;  /*为什么上升就变为0，而IsSaveIndex是上升完毕变为0，二者代码一致*/
			}

			break;

	}

	return 1;
}

void thicknessDataCollection_Single_Reset()
{
	IsSaveIndex = 0;
	Current_DataCollection_Single_STATE  = DataCollection_Single_Pre;
}


/*
 * 进行多次连续测量，每隔固定距离测量一次
 */
//int waitTime=0;

void thicknessDataCollection_Continuous(int IsForwardMode)
{
	static int  WaitTime=0;
//	waitTime=WaitTime;
	switch (Current_DataCollection_Continuous_STATE)
	{


		case DataCollection_Continuous_StartMessure:
				if(0==thicknessDataCollection_Single_Sensor()) //单次测量完毕
				{
					thicknessDataCollection_Single_Reset();//复位单次测量
					Current_DataCollection_Continuous_STATE =DataCollection_Continuous_StartMove;
				}
				break;
		case DataCollection_Continuous_StartMove:
				if (1 == IsForwardMode)
				{
					RobotForwardFunc();
				}
				else
				{
					RobotBackwardFunc();
				}
				WaitTime = GV.PV.MoveDistanceMM / (GV.PV.RobotMoveSpeed/60.0);/*m/min--mm/ms 得到的WaitTime为ms*/
				timer_handler_1.start_timer = 1;
				Current_DataCollection_Continuous_STATE = DataCollection_Continuous_WaitForDistance;
				break;
		case DataCollection_Continuous_WaitForDistance:
				if ( CompareTimer(WaitTime, &timer_handler_1) )
				{
					fsm_state_set(&current_robot_move_state, &robot_halt_state);
					Current_DataCollection_Continuous_STATE  = DataCollection_Continuous_Complete;
				}
				break;
		case DataCollection_Continuous_Complete:

					Current_DataCollection_Continuous_STATE=DataCollection_Continuous_StartMessure;
					break;



	}

}

void thicknessDataCollection_Continuous_Reset()
{
	Current_DataCollection_Continuous_STATE = DataCollection_Continuous_StartMessure;

}