32_Roughening/Core/Inc/fsm.h

/*
 * fsm.h
 *
 *  Created on: Oct 18, 2024
 *      Author: akeguo
 */

#ifndef INC_FSM_H_
#define INC_FSM_H_
#include "stdint.h"
//typedef enum _STATE_t
//{
//	Manual = 0,
//	Auto,
//	Abnormal,
//	SetLaneChangeDistance,
//	SetBackwardsDistance,
//	LaneChangeMode,
//	Forwards,
//	Backwards,
//	TurnLeft,
//	TurnRight,
//	HALT
//} STATE_t;

typedef enum _MoveSTATE_t
{
	Move_HALT=0,//停止
	Move_Forwards,//前进
	Move_Backwards,//后退
	Move_TurnLeft,//左转
	Move_TurnRight,//右转
	Move_Vertical_Task_Forwards,//竖直方向前进 保持竖直运行
	Move_Vertical_Task_Backwards,//竖直方向后退前进 保持竖直运行
	Move_Horizontal_Task_Forwards_Left,//水平方向前进，保持水平方向
	Move_Horizontal_Task_Backwards_Left,//水平方向后退，保持水平方向
	Move_Horizontal_Task_Forwards_Right,//水平方向前进，保持水平方向
	Move_Horizontal_Task_Backwards_Right,//水平方向后退，保持水平方向
	Move_Head_To_Left_Enum,
	Move_Head_To_UP_Enum,
	Move_Head_To_Right_Enum,
	Move_Head_To_Down_Enum,

} MoveSTATE_t;



// 区域自动作业阶段：0-准备（允许手动），1-运行（自动逻辑）
typedef enum RegionAuto_Phase
{
    RegionAuto_Ready = 0,       // 准备阶段：允许手动控制
    RegionAuto_Running = 1      // 自动运行阶段：执行自动逻辑，禁止手动
} RegionAuto_Phase;




typedef enum _LaneChangeSTATE_t
{
	Lane_HALT=0,//自动模式停止
	Lane_Turn_To_Straight_Up,//自动 运行到竖直向上
	Lane_Turn_To_Straight_Down,//自动 运行到竖直向下
	Lane_Turn_To_Horizontal_Left,//
	Lane_Turn_To_Horizontal_Right,//
	Lane_Vertical_Task_Move_Forwards,//竖直方向前进 保持竖直运行
	Lane_Vertical_Task_Move_Backwards,//竖直方向后退前进 保持竖直运行
	Lane_Horizontal_Task_Move_Forwards,//水平方向前进，保持水平方向
	Lane_Horizontal_Task_Move_Backwards,//水平方向后退，保持水平方向
} LaneChangeSTATE_t;


//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;

//自动模式下运行，
typedef enum _autoMoveSTATE_t
{
	Auto_Move_Start=0,
	Auto_Move_HeadToRight_Backwards,
	Auto_Move_HeadToLeft_Backwards,
	Auto_Move_HeadToUp_Forwards,
	Auto_Move_HeadToUp_Backwards,
	Auto_Move_Horizontal_LaneChange_Left,
	Auto_Move_Horizontal_LaneChange_Right,
	Auto_Move_Vertical_LaneChange_Left,
	Auto_Move_Vertical_LaneChange_Left2,
	Auto_Move_Vertical_LaneChange_Right,
	Auto_Move_Vertical_LaneChange_Right2,
	Auto_Move_Stop,
	Auto_Move_Time_Wait,
	Auto_Move_Time_Wait2,
} AutoMoveSTATE_t;




//设置  换道距离和设置后退距离
typedef enum _SetSTATE_t
{
	OtherMode=0,
	SetLaneChangeDistance,
	SetBackwardsDistance,
} SetSTATE_t;

typedef enum _SwingSTATE_t
{
	SwingHALT = 0,
	SwingLeft = 1,
	SwingRight = 2,
	SwingHome=3,

} SwingSTATE_t;

typedef enum _TiltSTATE_t
{
	TiltHALT = 0,
	TiltUP = 1,
	TiltDown = 2,
	TiltHome=3,
	TiltCurrentModeDown=5
} TiltSTATE_t;

typedef enum _RougheningEndState_t
{
	RougheningEndHALT = 0,
	RougheningEndSwingClockwise = 1,
	RougheningEndSwingAnticlockwise = 2,

} RougheningEndState_t;


typedef struct _transition_t
{
	int State; //状态
	void (*robotRun)(void); //执行相关动作
} transition_t;




typedef enum _vertical_LaneChangeState
{
	VerticalChange_TurnToUP,
	VerticalChange_TurnToDown,
	VerticalChange_TurnToLeft,
	VerticalChange_TurnToRight,
	VerticalChange_DelayMove,
	VerticalChange_End,
	VerticalChange_StateZero,
	VerticalChange_Delay1,
	VerticalChange_Delay2,
	VerticalChange_Delay3,

} Lane_Vertical_ChangeState;


typedef enum _horizontal_LaneChangeState
{
	HorizontalChange_TurnToUP,
	HorizontalChange_TurnToDown,
	HorizontalChange_TurnToLeft,
	HorizontalChange_TurnToRight,
	HorizontalChange_DelayMove,
	HorizontalChange_End,
	HorizontalChange_StateZero,
	HorizontalChange_Delay1,
	HorizontalChange_Delay2,
	HorizontalChange_Delay3,
	HorizontalChange_Delay4,

} Lane_Horizontal_ChangeState;


typedef enum {
	Horizontal_No = 0,  				// 未定义
	Horizontal_Head_To_Left_Flag = 1,  	// 水平向左
	Horizontal_Head_To_Right_Flag = 2,  // 水平向右
} Horizontal_LaneChangeFlag_t;

typedef enum {
	Veritical_No = 0,  					//未定义
	Veritical_To_Left_Flag = 1,  		//竖直向左
	Veritical_To_Right_Flag = 2,     	//竖直向右
} Vertical_LaneChangeFlag_t;

typedef enum {
	RegionAuto_Horizontal_Left = 1,  	// 区域自动水平作业
	RegionAuto_Horizontal_Right = 2,  	// 区域自动水平作业
	RegionAuto_Vertical_left = 3,     	// 区域自动竖直向左作业
	RegionAuto_Vertical_Right = 4     	// 区域自动竖直向右作业
} RegionAuto_t;

typedef enum {
	Define_Task = 1,  					// 定义任务目标
	Adjust_Pressure = 2,  				// 调整压力
	Launch_Tool = 3,     				// 启动前端工具
	Launch_Tool_Delay = 4, 				// 启动前端工具成功
	Perform_Tasks = 5     				// 开始执行任务
} RegionAutoMoveStart_t;

typedef enum {
	Tilt_Manual_Mode = 0,  	// 升降推杆手动调整模式
	Tilt_Auto_Mode = 1,     	// 升降推杆自动调整模式
} TiltWorkingMode_t;

typedef enum {
    Serial_Mode_Config = 0,  // 串口模式确定
    Action_Execute = 1,     // 动作执行
    Action_Shut_down = 2     // 动作关闭
} GV_Main_Core_Mode_t;



typedef enum {
	MoveTaskTimeCheck_finish = 0,  // 自动作业后退定时结束
	MoveTaskTimeCheck_start = 1,   // 自动作业后退定时开始
}MoveTaskTimeCheck_t;



typedef enum {
	InitialState_Detection_start = 1,   // 上电遥控器状态自检开始
	InitialState_Detection_finish = 2,  // 上电遥控器状态自检通过

}InitialState_Detection_t;

typedef enum {
	Wind_State_OFF = 0,   // 风刀关闭
	Wind_State_ON = 1,  // 风刀开启
}Wind_State_t;



typedef enum {
	EmegencyStop__CloseDevice = 0,  // 关闭执行器
	EmegencyStop_PowerOff = 1,  	// 断开电源
}EmegencyStop_State_t;


extern MoveSTATE_t CurrentMoveState;
extern SwingSTATE_t CurrentSwingState;
extern TiltSTATE_t CurrentTiltState; //点头，抬头

extern LaneChangeSTATE_t CurrentLaneChangeSTATE;
extern RougheningEndState_t CurrentRougheningEndState; //拉毛运动或者不动
extern SetSTATE_t CurrentSetState; //设置
extern RegionAuto_t CurrentRegionAuto;


extern char is_upper_computer_take_over_control;
extern char Switch_Off_Flag;
void action_perfrom(transition_t transitions[], int length, int state);

void GF_Dispatch();
void action_perfrom();
void Fsm_Init();
#endif /* INC_FSM_H_ */