/*
 * robot_move_actions.h
 *
 *  Created on: 2025年12月29日
 *      Author: xsq
 */

#ifndef FSM_INC_ROBOT_MOVE_ACTIONS_H_
#define FSM_INC_ROBOT_MOVE_ACTIONS_H_


#include "BHBF_ROBOT.h"
#include "fsm_state.h"



extern void Forwards_State_Do(transition_t *p_this);
extern void Backwards_State_Do(transition_t *p_this);
extern void TurnLeft_State_Do(transition_t *p_this);
extern void TurnRight_State_Do(transition_t *p_this);
extern void HALT_State_Do(transition_t *p_this);

extern void Move_Vertical_Task_Forwards_Do(transition_t *p_this);
extern void Move_Vertical_Task_Backwards_Do(transition_t *p_this);

extern void Move_Horizontal_Task_Forwards_Right_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Forwards_Left_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Backwards_Right_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Backwards_Left_Do(transition_t *p_this);

extern void Move_Horizontal_Task_Forwards_Right_Paint_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Forwards_Left_Paint_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Backwards_Right_Paint_Do(transition_t *p_this);
extern void Move_Horizontal_Task_Backwards_Left_Paint_Do(transition_t *p_this);

extern void Move_Head_To_UP_Do(transition_t *p_this);
extern void Move_Head_To_Down_Do(transition_t *p_this);
extern void Move_Head_To_Left_Do(transition_t *p_this);
extern void Move_Head_To_Right_Do(transition_t *p_this);

extern void Move_Head_To_UP_Add_Adjust_Do(transition_t *p_this);
extern void Move_Head_To_Left_Add_Adjust_Do(transition_t *p_this);
extern void Move_Head_To_Right_Add_Adjust_Do(transition_t *p_this);



extern void HALT_State_Enter(transition_t *p_this);
extern void HALT_State_Exit(transition_t *p_this);

extern double GetVehicleSpeed(double speed_selection);

extern int32_t* DHRoughening_Speed[10];


extern transition_t   current_robot_move_state;

extern transition_state_t   robot_halt_state;
extern transition_state_t   robot_forwards_state;
extern transition_state_t   robot_backwards_state;
extern transition_state_t   robot_turn_left_state;
extern transition_state_t   robot_turn_right_state;

extern transition_state_t   robot_move_vertical_task_forwards_state;
extern transition_state_t   robot_move_vertical_task_backwards_state;

extern transition_state_t   robot_move_horizontal_task_forwards_left_state;
extern transition_state_t   robot_move_horizontal_task_backwards_left_state;
extern transition_state_t   robot_move_horizontal_task_forwards_right_state;
extern transition_state_t   robot_move_horizontal_task_backwards_right_state;


extern transition_state_t   robot_move_horizontal_task_forwards_left_paint_state;	/* 水平纠偏前进 头朝左*/
extern transition_state_t   robot_move_horizontal_task_backwards_left_paint_state;/* 水平纠偏后退 头朝左*/
extern transition_state_t   robot_move_horizontal_task_forwards_right_paint_state;	/* 水平纠偏前进 头朝右*/
extern transition_state_t   robot_move_horizontal_task_backwards_right_paint_state;/* 水平纠偏后退 头朝右*/



extern transition_state_t   robot_move_head_to_left_enum_state;
extern transition_state_t   robot_move_head_to_up_enum_state;
extern transition_state_t   robot_move_head_to_right_enum_state;
extern transition_state_t   robot_move_head_to_down_enum_state;

extern transition_state_t robot_move_head_to_up_add_adjust_enum_state;
extern transition_state_t robot_move_head_to_left_add_adjust_enum_state;
extern transition_state_t robot_move_head_to_right_add_adjust_enum_state;

#endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */