///*
// * fsm.c
// *
// *  Created on: Oct 18, 2024
// *      Author: akeguo
// */
//
//#include <bsp_tempature.h>
//#include <logic.h>
//#include <math.h>
//#include "msp_DAM0404D.h"
//#include "BHBF_ROBOT.h"
//#include "BSP/bsp_include.h"
//#include "msp_DH_Roughening.h"
//#include "MSP/msp_PID.h"
//#include "MSP/msp_MK32_1.h"
//#include "BHBF_ROBOT.h"
//
//// 需要一个485接口，并且能够实现接收和发送；非周期性发送
//// CAN 通讯，然后将数据发送出去
//
//char job_start_flag = 0;
//char job_stop_flag = 0;
//char arm_position_reached_flag = 0;
//char arm_end_reached_flag = 0;
//
//
//
//uint8_t arm_go_to_position[8] =
//{ 0X01, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01 };
//uint8_t arm_spray_gun_on[8] =
//{ 0X02, 0X02, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01 };
//uint8_t arm_spray_gun_off[8] =
//{ 0X03, 0X03, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01 };
//uint8_t arm_get_position[8] =
//{ 0X04, 0X04, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01 };
//
//uint8_t arm_get_reached_end[8] =
//{ 0X05, 0X05, 0X01, 0X01, 0X01, 0X01, 0X01, 0X01 };
//
//void klf_DecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
//void decode_485(uint8_t *buffer, uint16_t length);
//
//struct UARTHandler *klf_handler;
//DispacherController *klf_dispacherController;
//
//FDCANHandler *klf_can_controller;
//DispacherController *klf_can_DispacherController;
//
//void fke_lai_fen_modbus_intialize(struct UARTHandler *Handler)
//{
//
//	klf_handler = Handler;
//	klf_handler->UART_Decode = decode_485;
//	klf_handler->Wait_time = 6; //等待10ms 最低不要低于4；
//	klf_dispacherController = Handler->dispacherController;
//	klf_dispacherController->Dispacher_Enable = 0;
//	klf_dispacherController->DispacherCallTime = 2;
//
//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
//	        "KeLaiFen485", 0, KeLaiFen485);
//	//uartHandler->Insert_HardWare_Entry_UART
//	LOG("steering_engine_intialize");
//}
//
//uint8_t test_Order[8] =
//{ 0X01, 0X03, 0X07, 0XD0, 0X00, 0X02, 0XC4, 0X86 };
//void klf_test()
//{
//
//	memcpy(klf_handler->Tx_Buf, test_Order, 8);
//	klf_handler->TxCount = 8;
//	//立刻发送
//	klf_handler->UART_Tx(klf_handler);
//
//}
//
//void klf_send(char *buf, char length)
//{
//
//	memcpy(klf_handler->Tx_Buf, buf, length);
//	klf_handler->TxCount = length;
//	//立刻发送
//	klf_handler->UART_Tx(klf_handler);
//
//}
//
//void decode_485(uint8_t *buffer, uint16_t length)
//{
//	klf_test();
//
//	//klf_handler->AddSendList(klf_handler,test_Order,8,2000,decode_485);
//	//延时立刻发送
//	//klf_handler->AddSendList(klf_handler,buffer,length,2000,decode_485);
//	//dLT_Log_UART_Handler->AddSendList(dLT_Log_UART_Handler,DltLogData,Size,100,NULL);
////	memcpy(klf_handler->Tx_Buf, buffer, length);
////			klf_handler->TxCount = length;
////			klf_handler->UART_Tx(klf_handler);
//
//	/* CRC 校验 */
//	uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
//	/* CRC 校验正确 */
//	if (crc_check == MB_CRC16(buffer, length - 2))
//	{
//
//		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"KeLaiFen485",1);
//
//		if(1)
//		{
//			  arm_position_reached_flag = 1;
//
//
//		}else if(1)
//		{
//			arm_end_reached_flag = 1;
//		}
//
//
//	}
//	else
//	{
//		LOGFF(DL_ERROR,"force_sensor decoding failed");
//	}
//
//}
//
//void klf_can_controller_intialize(FDCANHandler *Handler)
//{
//	//初始化
//
//	klf_can_controller = Handler;
//	klf_can_controller->CAN_Decode = klf_DecodeCAN;
//
//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
//	        "KeLaiFenCAN", 0, KeLaiFenCAN);
//
//	klf_can_DispacherController = Handler->dispacherController;
//	klf_can_DispacherController->DispacherCallTime = 2;
//	klf_can_DispacherController->Dispacher_Enable = 0;
//
//}
//
//void klf_DecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
//{
//	if(1)
//	{
//		job_start_flag=1;
//	}
//	else if(1)
//	{
//		job_stop_flag=1;
//	}
//
//
//	HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
//	        "KeLaiFenCAN", 1);
//
////	memcpy(klf_can_controller->Tx_Buf, buffer, length);
////	klf_can_controller->SendLength = length;
////	klf_can_controller->SendFrameID = canID;
////	//立刻发送
////	klf_can_controller->CAN_Send_Data(klf_can_controller);
////
////	//延时发送
////	klf_can_controller->AddCANSendList(klf_can_controller, canID, length,
////	        klf_can_controller->Tx_Buf, 2, klf_DecodeCAN); //
////
////	job_start_flag = 1;
//
//}
//
//enum CLF_State
//{
//	JobStart = 1,
//	FirstDelay,
//	SprayOn,
//	SprayOff,
//	ReadArmPosition,
//	ReadArmReachedEnd,
//	SecondDelay,
//	JobEnd,
//	NoMove
//};
////定义枚举类型 enum SEASONS
//enum CLF_State clf_state=NoMove; //定义了一个枚举类型变量season(类型enum SEASONS)
//
//void clf_loop()
//{
//	switch (clf_state)
//	{
//		case JobStart:
//		{
//			klf_send(arm_go_to_position, sizeof(arm_go_to_position)); //机器人运动到位置
//
//			//清零
//			timer_handler_1.start_timer = 1;
//			clf_state = FirstDelay;
//			break;
//		}
//		case FirstDelay:
//		{
//			if (CompareTimer(40, &timer_handler_1))//计时结束
//			{
//				clf_state = SprayOn;
//			}
//			break;
//		}
//		case SprayOn:
//		{
//			klf_send(arm_spray_gun_on, sizeof(arm_spray_gun_on)); //发送启动喷枪指令
//			clf_state = ReadArmPosition;
//			timer_handler_1.start_timer = 1;
//			timer_handler_2.start_timer = 1;
//			break;
//		}
//		case ReadArmPosition: //周期性获取，担心数据过快
//		{
//			if (CompareTimer(100, &timer_handler_2))
//			{
//				klf_send(arm_get_position, sizeof(arm_get_position)); //发送启动喷枪指令
//				timer_handler_2.start_timer = 1;
//				if (arm_position_reached_flag == 1)
//				{
//					clf_state = SprayOff;
//					arm_position_reached_flag =0 ;
//				}
//
//			}
//
//			break;
//		}
//		case SprayOff:
//		{
//			klf_send(arm_spray_gun_off, sizeof(arm_spray_gun_off)); //发送启动喷枪指令
//
//			clf_state = ReadArmReachedEnd;
//
//			timer_handler_2.start_timer = 1;
//			break;
//		}
//		case ReadArmReachedEnd:
//		{
//			if (CompareTimer(20, &timer_handler_2))
//			{
//				klf_send(arm_get_reached_end, sizeof(arm_get_reached_end));
//				timer_handler_2.start_timer = 1;
//				if (arm_end_reached_flag == 1)
//				{
//					clf_state = SecondDelay;
//					timer_handler_1.start_timer = 1;
//				}
//
//			}
//			break;
//		}case SecondDelay:
//		{
//			if (!CompareTimer(1000, &timer_handler_1))//计时中
//			{
//				if (job_stop_flag == 1)
//				{
//					clf_state = JobEnd;
//				}
//
//			}else//计时结束
//			{
//				clf_state = JobStart;
//			}
//			break;
//		}
//		case JobEnd:
//		{
//
//			break;
//		}
//
//	}
//
//}
//