#include "TopDefine.h"
#include "shoot.hpp"
#include "main.h"
#include "remote_control.h"
#include "FreeRTOS.h"
#include <cmsis_os2.h>
#include "calc_lib.h"
extern RC_ctrl_t rc_ctrl;
#define SHOOT_SPEED 40000
#define SHOOT_SPEED_BACK -4000
#define STOP 0

// 定义状态机变量
ShootState_t currentState = SHOOT_IDLE;

Shoot::Shoot()
{
    // motor_5065[0] = get_5065_motor_point(0);//获取电机数据指针
    // motor_5065[1] = get_5065_motor_point(1);//获取电机数据指针
    CAN_VESC_RPM(1, STOP); 
    CAN_VESC_RPM(2, STOP); 
	
}

void Shoot::shootThree()
{
    if((rc_ctrl.sw[1]>500))
    {
        speed_5065 = map((float)rc_ctrl.sw[1],500,1694,30000,45000);
        
        // CAN_VESC_RPM(1, speed_5065); 
        // CAN_VESC_RPM(2, speed_5065); 
    }
    else
    {
        speed_5065=STOP;
       // CAN_VESC_Control(1,STOP,&hcan2);
        // CAN_VESC_RPM(1, STOP); 
        // CAN_VESC_RPM(2, STOP); 
    }
    if(rc_ctrl.sw[5]==1694)
    {
        speed_5065=SHOOT_SPEED_BACK;
        // CAN_VESC_Control(1,SHOOT_SPEED_BACK,&hcan2);
        // CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
        // CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
        
    }
    //CAN_VESC_Control(1,speed_5065,&hcan2);
    CAN_VESC_RPM(1, speed_5065); 
    CAN_VESC_RPM(2, speed_5065); 
}

void Shoot::shootBack()
{
    if(rc_ctrl.sw[5]==1694)
    {
        
        CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
        CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
    }

}

void Shoot::shootStop()
{
    CAN_VESC_HEAD(1); 
    CAN_VESC_HEAD(2); 
  
}

void Shoot::shootControl()
{
        shootThree();
  
}

void Shoot::shootStateMachine() {
    switch (currentState) {
        case SHOOT_IDLE: {
            // 空闲状态，等待遥控器输入
            if (rc_ctrl.sw[1] > 500) {
                currentState = SHOOT_FIRE; // 切换到发射状态
            }
            break;
        }

        case SHOOT_FIRE: {
            // 发射状态，控制电机发射
            speed_5065 = map((float)rc_ctrl.sw[1], 500, 1694, 30000, 45000);
            CAN_VESC_RPM(1, speed_5065); 
            CAN_VESC_RPM(2, speed_5065); 

            // 检测光电传感器是否触发
            if (IS_PHOTOELECTRIC_TRIGGERED()) {
                currentState = SHOOT_TRIGGERED; // 切换到光电触发状态
            }
            break;
        }

        case SHOOT_TRIGGERED: {
            // 光电触发状态，停止发射
            CAN_VESC_HEAD(1); 
            CAN_VESC_HEAD(2);
            // 切换到返回状态
            currentState = SHOOT_RETURN;
            break;
        }

        case SHOOT_RETURN: {
            // 自动返回状态，控制电机反转
            CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
            CAN_VESC_RPM(2, SHOOT_SPEED_BACK);

            // 检测返回完成（可以通过时间或其他传感器判断）
            if (rc_ctrl.sw[1] < 500) { // 假设遥控器开关控制返回完成
                currentState = SHOOT_IDLE; // 切换回空闲状态
            }
            break;
        }

        default: {
            // 默认状态，回到空闲
            currentState = SHOOT_IDLE;
            break;
        }
    }
}