/*
 * bsp_FSM.h
 *
 *  Created on: Aug 2, 2024
 *      Author: akeguo
 */

#ifndef INC_FSM_TXT_
#define INC_FSM_TXT_

#include "BHBF_ROBOT.h"
#include "BSP/bsp_include.h"
#include "robot_state.h"


typedef enum
{
	Manual=0,
	Auto,
	Abnormal,
	SetLaneChangeDistance,
	SetBackwardsDistance,
	LaneChangeMode,
	Forwards,
	Backwards,
	TurnLeft,
	TurnRight
} STATE_t;

typedef void (*STATE_ACTION)(void);

typedef struct ACTION_MAP
{
	STATE_t stStateID;
	STATE_ACTION EnterAct;
	STATE_ACTION RunningAct;
	STATE_ACTION ExitAct;
} ACTION_MAP_t;

extern ACTION_MAP_t actionMap[];
typedef enum
{
	EVENT_Manual=0,
	EVENT_Auto,
	EVENT_Abnormal,
	EVENT_SetLaneChangeDistance,
	EVENT_SetBackwardsDistance,
	EVENT_LaneChangeMode,
	EVENT_Forwards,
	EVENT_Backwards,
	EVENT_TurnLeft,
	EVENT_TurnRight,
	EVENT_MAP_END
} EVENT_t;

//注：定义EVENT_MAP_END的目的是为了方便查表。
//
//定义EVENT_MAP_t结构体类型，表示事件表属性：
typedef struct EVENT_MAP
{
	EVENT_t stEventID;
	STATE_t stCurState;
	STATE_t stNextState;
} EVENT_MAP_t;


extern EVENT_MAP_t eventMap[];


typedef struct FSM
{
	STATE_t stCurState;
	STATE_t stNextState;
	ACTION_MAP_t *pActionMap;
	EVENT_MAP_t *pEventMap;
} FSM_t;





extern FSM_t RobotFSM;	//定义状态机
void fsm_state_transfer(FSM_t *pFsm, EVENT_t stEventID);


#endif /* INC_BSP_BSP_FSM_H_ */