/*
 * 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/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_FDCAN.h"
#include "BSP/DLTuc.h"
#include "BSP/bsp_DLT_Log.h"
#include "BSP/bsp_UDP.h"
#include "BSP/tcp_server.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_LeiSai_ISV2_CAN.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 "msp_K1061DC.h"
#include "msp_wire_sensor.h"
#include "msp_Wire_Motor_C20.h"

#include "MSP/msp_UWB_20.h"

#include "motors.h"
#include "paint_gun_action.h"
#include "motors_power_action.h"
#include "robot_move_actions.h"
#include "blowers_pwm_action.h" // 风机

#include "fsm_state_control.h"
#include "fsm_state.h"
#include "change_line_control.h"
#include "Automatic_task_Control.h"
#include "MSP/msp_PID.h"


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




#define DLTViewer 1


bool CompareTimer_Delay(int32_t Delay);

extern GV_struct_define GV;
extern IV_struct_define IV;	//串口发送到遥控数据
extern CV_struct_define CV;	//
extern PV_struct_define decoded_PV;	//串口从遥控接收数据


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
bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
void SystemTimer_Intialize();
void GF_Timer_Count();
void GF_Robot_Init(void);
void GF_Robot_MainLoop(void);
void GF_WatchDog_Loop(void);


 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;

//Error Bit Define

#define AngleEncoderErrorBitFlag 		0
#define DAM_Relay_ErrorBitFlag 			1
#define DH_CAN_Remote_Controller_1E4 	2
#define DH_CAN_Remote_Controller_2E4	3
#define DH_Remote						4
#define force_sensor					5
#define LeiSai_ISV2CAN					6
#define mk32_sbus 						7
#define steering_engine					8
#define Weld_seam_Tracking				9

#define Ti5_1							11
#define Ti5_2							12
#define Ti5_3							13
#define Ti5_4							14
#define Ti5_5							15
#define Ti5_6							16

#define TL720D 							17


#define ZQ_CAN_ID1_LeftMotor			18
#define ZQ_CAN_ID2_RightMotor			19
#define ZQ_CAN_ID3_SwingMotor			20
#define wire_sensor						21

#define  DHRougheningController			22
#define DAM040D_Relay_ErrorBitFlag 		23

#define DMAKE_1 		24
#define DMAKE_2 		25
#define DMAKE_3 		26
#define pressure_sensor					27


#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];




#endif /* INC_BHBF_ROBOT_H_ */