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

#ifndef INC_FSM_H_
#define INC_FSM_H_

#include <stdint.h>
#include <math.h>

#include "BHBF_ROBOT.h"
#include "robot_state.h"
#include "BSP/bsp_include.h"
#include "MSP/msp_PID.h"
#include "MSP/msp_MK32_1.h"

extern char IsRobotHaltSateChangedFlag;

typedef enum _MoveSTATE_t
{
	Move_HALT = 0, //停止
	Move_Forwards, //前进，没有纠偏的前进
	Move_Backwards, //后退，没有纠偏的前进
	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;

typedef enum _Motor_Power_STATE_t
{
	Power_OFF = 0, Power_ON = 1

} Motor_Power_STATE_t;

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_HeadToUp_Forwards,
	Auto_Move_HeadToLeft_Backwards,
	Auto_Move_HeadToUp_Backwards,
	Auto_Move_Vertical_Left_LaneChange_Up,
	Auto_Move_Vertical_Left_LaneChange_Down,
	Auto_Move_Vertical_Right_LaneChange_Up,
	Auto_Move_Vertical_Right_LaneChange_Down,
	Auto_Move_Horizontal_Left_LaneChange,
	Auto_Move_Horizontal_Right_LaneChange,
	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 _PaintGunSTATE_t
{
	PaintGunOFF = 0, PaintGunON = 1
} PaintGunSTATE_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 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,
   //0---6
} Lane_Vertical_ChangeState;

typedef enum _horizontal_LaneChangeState
{
	HorizontalChange_TurnToUP,
	HorizontalChange_TurnToDown,
	HorizontalChange_TurnToLeft,
	HorizontalChange_TurnToRight,
	HorizontalChange_DelayMove,
	HorizontalChange_End,
	HorizontalChange_StateZero,

} Lane_Horizontal_ChangeState;

typedef enum _iV_Information_State
{
	IV_Ding_Su_Shui_Ping_Hou_Tui, //定速巡航水平后退
	IV_Ding_Su_Shui_Ping_Qian_Jin, //定速巡航水平前进
	IV_Ding_Su_Shu_Zhi_Qian_Jin, //定速巡航竖直前进
	IV_Ding_Su_Shu_Zhi_Hou_Tui, //定速巡航竖直后退
	IV_Ding_Su_Shou_Dong_Hou_Tui, //定速巡航手动后退
	IV_Ding_Su_Shou_Dong_Qian_Jin, //定速巡航手动前进
	IV_Shui_Ping_Huang_Dao, //水平换道
	IV_Shu_Zhi_Huang_Dao, //竖直换道
	IV_Shui_Ping_Mo_Shi_Qian_Jin, //水平模式前进
	IV_Shui_Ping_Mo_Shi_Hou_Tui, //水平模式后退
	IV_Shu_Zhi_Mo_Shi_Qian_Jin, //垂直模式前进
	IV_Shu_Zhi_Mo_Shi_Hou_Tui, //垂直模式后退
	IV_Shou_Dong_Qian_Jin, //手动控制前进
	IV_Shou_Dong_Hou_Tui, //手动控制后退
	IV_Shou_Dong_Zuo_Zhuan, //手动控制左转
	IV_Shou_Dong_You_Zhuan, //手动控制右转

} IV_Information_State;



extern MoveSTATE_t CurrentMoveState;


extern PaintGunSTATE_t Current_PaintGun_STATE;//机器人喷枪状态
extern LaneChangeSTATE_t CurrentLaneChangeSTATE;

extern Lane_Horizontal_ChangeState CurrentHorizontal_ChangeState;
extern Lane_Vertical_ChangeState Current_Vertical_ChangeState;

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_ */