#ifndef UP_H
#define UP_H


#include "struct_typedef.h"
#include "pid.h"
#include "bmi088.h"
#include "user_math.h"
#include "ahrs.h"
#include "can_use.h"
#include "cmd.h"
#include "filter.h"
#include "vofa.h"	
#include "GO_M8010_6_Driver.h"
#include "bsp_usart.h"

/*
 状态机

状态结构体，触发标志位结构体

配置层，-->config.c
  |
中间层，-->up.h,统一UP_t
  |
运行函数，switch(状态) 运行相应函数


*/
/*配合过程状态*/
typedef enum {
    CoPREPARE,            // 准备阶段
	  CoTRANSLATE_OUT,//上方平移,去运球
	  CoDRIBBLE,       //运球和蓄力阶段,再平移回去
	  CoTRANSLATE_IN,//上方平移，送球发射，回到运球位置
	  CoPITCH,       //发射
	  CoPITCH_MID360, //雷达发射
	  CoDONE,        
	  

}CoState_t;
/*总配合上下文*/
typedef struct {
    CoState_t CoState;

    uint8_t is_init ;
} CoCon_t;




/* 投球状态定义 */
typedef enum {
    PITCH_PREPARE,          // 准备阶段
	  PITCH_START,            //启动，拉扳机
    PITCH_PULL_TRIGGER,  
    PITCH_LAUNCHING,        // 发射中
	
    PITCH_COMPLETE          // 完成
	
} PitchState_t;

/* 投球参数配置 */
typedef struct {
    fp32 m2006_init;      // M2006初始角度
	  fp32 m2006_trig;   // M2006触发角度0,用来合并扳机
    fp32 go_init;     // GO电机触发位置,初始位置，后续更改用于发射的位置
	  fp32 go_pull_pos; // go上升去合并扳机，扳机位置
	  fp32 Pitch_angle;
	
	  fp32 pull_speed;//go速度
	  fp32 go_release_pos;//go松开，发射位置
	
} PitchCfg_t;
//fp32 go_pull_pos;
//    fp32 m2006_init;      // M2006初始角度
//    fp32 m2006_trig;      // M2006触发角度
//    fp32 go_init;         // GO初始位置
//    fp32 go_release;      // GO释放阈值
//    fp32 go_recv;         // GO接球位置
//    fp32 screw_init;      // 螺杆初始值
//    fp32 pitch_ang;       // 投球角度
//    fp32 pull_spd;        // 拉动速度
/* 投球控制上下文 */
typedef struct {
    PitchState_t PitchState;
	  PitchCfg_t PitchConfig;

    uint8_t is_init ;
} Pitch_Cfg_t;

/*运球*/
typedef enum {
    DRIBBLE_PREPARE,        // 准备阶段
	  DRIBBLE_START,
    DRIBBLE_TRANSLATE,      // 平移过程
		DRIBBLE_PROCESS_DOWN,        // 运球过程，球下落
	  DRIBBLE_PROCESS_UP,        // 运球过程，球上升
    DRIBBLE_DONE            // 运球结束
} DribbleState_t;

/* 参数配置结构体 */
typedef struct {
	int8_t dribble_flag;//当移动三摩擦后为1，否则为0，防止发射撞到
	   
    fp32 m3508_init_ang;     // 3508平移前位置
    fp32 m3508_translate_angle;     // 平移后位置
	  fp32 init_spd;
    fp32 spd;  // 转动速度
    fp32 rev_spd;

	
	/*光电标志位，初始值均为0，触发为1*/
		int light_3508_flag;//3508平移处的光电，0初始，1到位置
	  int light_ball_flag;//检测球的flag
	
} DribbleCfg_t;

/* 状态机上下文 */
typedef struct {
    DribbleState_t DribbleState;
	  DribbleCfg_t DribbleConfig;
	   
    uint8_t is_init;

} DribbleCont_t;


typedef struct {

 BMI088_t bmi088;

 AHRS_Eulr_t imu_eulr;//解算后存放欧拉角（弧度制）
	
}UP_Imu_t;
	 
typedef struct
{	

	pid_param_t VESC_5065_M1_param;
	pid_param_t VESC_5065_M2_param;
	
	pid_param_t Shoot_M2006_speed_param;	
	pid_param_t Shoot_M2006_angle_param;	
	
	pid_param_t Pitch_M2006_speed_param;	
	pid_param_t Pitch_M2006_angle_param;

  pid_param_t Pitch_Angle_M2006_speed_param;
	
	pid_param_t Dribble_M3508_speed_param;//三摩擦用的速度环
		 
	pid_param_t Dribble_translate_M3508_speed_param;//平移用的速度环
	pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环
	 
	
	DribbleCfg_t DribbleCfg;
	PitchCfg_t  PitchCfg;
	
	GO_MotorCmd_t go_cmd;
}UP_Param_t;
typedef struct{

	  fp32 VESC_5065_M1_rpm;
	  fp32 VESC_5065_M2_rpm;

	  fp32 Shoot_M2006_angle;
		fp32 Pitch_M2006_angle;
		 
		fp32 go_shoot;
		fp32 Dribble_M3508_speed[3];//运球转速
		fp32 Dribble_translate_M3508_angle;//平移用的3508转动角度

		fp32 Shoot_Pitch_angle;
		 
	}up_motor_target_t;

typedef struct{
		 
		 
		 pid_type_def VESC_5065_M1;
		 pid_type_def VESC_5065_M2;
		 
		 pid_type_def Shoot_M2006angle;
		 pid_type_def Shoot_M2006speed;
		 
		 pid_type_def Pitch_M2006_angle;
		 pid_type_def Pitch_M2006_speed;
		 
		 pid_type_def Pitch_Angle_M2006_speed;		 
		 
		 pid_type_def Dribble_M3508_speed[3];//三摩擦用的速度环
		 
		 pid_type_def Dribble_translate_M3508_speed;//平移用的速度环
		 pid_type_def Dribble_translate_M3508_angle;//平移用的角度环
	 
		 
	}up_pid_t;
typedef struct
{	
	  fp32 ecd;
	  fp32 rpm;
		uint8_t id;
    fp32 orig_angle;     
    fp32 last_angle;     
    int32_t round_cnt;    
    int init_cnt;   
	  fp32 total_angle;	
}DJmotor_feedback_t;


typedef struct{
	
   uint8_t up_task_run; 
   const	UP_Param_t *param;  
   CoCon_t	CoContext;
	/*运球过程*/
  DribbleCont_t DribbleCont;
    /*投篮过程*/
	Pitch_Cfg_t Pitch_Cfg;
		  
	 CMD_t *cmd;	

	 struct{	
		 
	 struct{	
	  fp32 VESC_5065_M1_rpm;
	  fp32 VESC_5065_M2_rpm;
	 }VESC;
	  GO_MotorData_t *go_data;//存放go电机数据

    DJmotor_feedback_t DJmotor_feedback[6];
		
    struct { 
	   uint32_t ecd;
	   float angle;
     }Encoder;	
	}motorfeedback;
 

	

  up_pid_t pid;
  up_motor_target_t motor_target;

 	GO_MotorCmd_t go_cmd;
	
		/*经PID计算后的实际发送给电机的实时输出值*/
    struct 
	{
		fp32 DJfinal_out[6];
		fp32 final_VESC_5065_M1out;
		fp32 final_VESC_5065_M2out;
		

	}final_out;
	
	 LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
	
	fp32 vofa_send[8];
	
}	UP_t;


int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) ;
int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
int8_t GO_SendData(UP_t *u,float pos,float limit);
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle);
int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed);

int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
int8_t Co_Process(UP_t *u, CAN_Output_t *out);


#endif