/*
 * cmd模组
 */

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include "component\user_math.h"
#include "gimbal.h"
#include "remote_control.h"
#include "chassis.h"
#include "module\shoot.h"
#include "module\cmd\cmd_types.h"


 	/* ========================================================================== */
/*                           输出命令结构                                       */
/* ========================================================================== */

/* 每个模块的输出包含源信息和命令 */
typedef struct {
    CMD_InputSource_t source;
    Chassis_CMD_t cmd;
} CMD_ChassisOutput_t;

typedef struct {
    CMD_InputSource_t source;
    Gimbal_CMD_t cmd;
} CMD_GimbalOutput_t;

typedef struct {
    CMD_InputSource_t source;
    Shoot_CMD_t cmd;
} CMD_ShootOutput_t;

/* ========================================================================== */
/*                           配置结构                                           */
/* ========================================================================== */

/* 灵敏度配置 */
typedef struct {
    float mouse_sens;       /* 鼠标灵敏度 */
    float move_sens;        /* 移动灵敏度 */
    float move_fast_mult;   /* 快速移动倍率 */
    float move_slow_mult;   /* 慢速移动倍率 */
} CMD_Sensitivity_t;

/* RC模式映射配置 - 定义开关位置到模式的映射 */
typedef struct {
    /* 左拨杆映射 - 底盘模式 */
    Chassis_mode_t sw_left_up;
    Chassis_mode_t sw_left_mid;
    Chassis_mode_t sw_left_down;
    
    /* 右拨杆映射 - 云台/射击模式 */
    Gimbal_Mode_t gimbal_sw_up;
    Gimbal_Mode_t gimbal_sw_mid;
    Gimbal_Mode_t gimbal_sw_down;
	
	Shoot_Mode_t    shoot_sw_up;
    Shoot_Mode_t    shoot_sw_mid;
    Shoot_Mode_t    shoot_sw_down;  
	
} CMD_RCModeMap_t;

/* 整体配置 */
typedef struct {
    /* 输入源优先级，索引越小优先级越高 */
    CMD_InputSource_t source_priority[CMD_SRC_NUM];
    
    /* 灵敏度设置 */
    CMD_Sensitivity_t sensitivity;
    
    /* RC模式映射 */
    CMD_RCModeMap_t rc_mode_map;
    
} CMD_Config_t;

/* ========================================================================== */
/*                           主控制上下文                                       */
/* ========================================================================== */

typedef struct {
    float now;
    float dt;
    uint32_t last_us;
} CMD_Timer_t;

typedef struct CMD_Context {
    /* 配置 */
    CMD_Config_t *config;
    
    /* 时间 */
    CMD_Timer_t timer;
    
    /* 当前帧和上一帧的原始输入 */
    CMD_RawInput_t input;
    CMD_RawInput_t last_input;
    
    /* 仲裁后的活跃输入源 */
    CMD_InputSource_t active_source;
    
    /* 输出 */
    struct {
    CMD_ChassisOutput_t chassis;
    CMD_GimbalOutput_t gimbal;
    CMD_ShootOutput_t shoot;
    } output;
} CMD_t;

/* ========================================================================== */
/*                           全局配置实例                                       */
static CMD_Config_t g_cmd_config = { 
     /* 灵敏度设置 */
     .sensitivity = {
         .mouse_sens = 0.8f,
         .move_sens = 1.0f,
         .move_fast_mult = 1.5f,
         .move_slow_mult = 0.5f,
     },
    
     /* RC拨杆模式映射 */
     .rc_mode_map = {
         /* 左拨杆控制底盘模式 */

         .sw_left_up   = CHASSIS_MODE_BREAK,
         .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
         .sw_left_down = CHASSIS_MODE_ROTOR,
        
         /* 用于云台模式 */
         .gimbal_sw_up   = GIMBAL_MODE_RELAX,
         .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
         .gimbal_sw_down = GIMBAL_MODE_RELATIVE,

		.shoot_sw_up=SHOOT_MODE_SAFE,
		.shoot_sw_mid=SHOOT_MODE_SINGLE,
		.shoot_sw_down=SHOOT_MODE_BURST,


     },
    
 };


#ifdef __cplusplus
}
#endif