#pragma once

#include <stdint.h>

#include "device/motor_rm.h"

namespace arm {

enum class GripperState : uint8_t {
  OPENING = 0,
  OPEN_HOLD,
  CLOSING,
  PRELOAD,
  CLOSE_HOLD,
  FAULT,
};

// 调试变量与可调参数，保留为全局便于Watch实时观察/修改。
extern GripperState gripper_state_dbg;
extern bool gripper_target_close;
extern float gripper_output_dbg;

// 夹爪输出（MOTOR_RM_SetOutput 归一化范围：[-1, 1]）
extern float gripper_out_open;
extern float gripper_out_close_fast;
extern float gripper_out_preload;
extern float gripper_out_hold;
extern float gripper_out_boost;

// 接触/防滑判据
extern float gripper_contact_current_th;
extern float gripper_contact_speed_th;
extern float gripper_slip_speed_th;

extern uint16_t gripper_contact_debounce_ms;
extern uint16_t gripper_preload_ms;
extern uint16_t gripper_boost_ms;
extern uint16_t gripper_open_timeout_ms;
extern uint16_t gripper_close_timeout_ms;

int8_t Gripper_Init(const MOTOR_RM_Param_t& param);
void Gripper_Step(bool target_close);

}  // namespace arm