#include "system/includes.h"
#include "app_config.h"
#include "asm/pwm_led.h"
#include "tone_player.h"
#include "ui_manage.h"
#include "app_main.h"
#include "app_task.h"
#include "asm/charge.h"
#include "app_power_manage.h"
#include "app_charge.h"
#include "user_cfg.h"
#include "audio.h"
#include "vm.h"
#include "sys_time.h"

extern void usr_set_up_moto(u8 dir,u16 duty);
extern void usr_set_down_moto(u8 dir,u16 duty);
extern void io_ext_interrupt_test(void);
extern void usr_intterupt_close();
extern void usr_le_120_notify_data();
extern void usr_write_device_sta();
extern void usr_pwm_reinit();

void usr_moto_main();
void usr_moto_timer_init()
{
    usr_var.usr_intterupt_reinit_falg=1;
    usr_var.usr_auto_off_cnt=0;
    io_ext_interrupt_test();
    usr_intterupt_close();
    _usr_module_cfg.power_on_flag=1;
}

#define   HIG_DUTY    90
#define   LOW_DUTY    50
#define   OFF_DUTY    0

#define   DIR_L       1
#define   DIR_R       2
#define   DIR_F       0


/*
// 模式切换中断服务函数
void modeSwitchISR() interrupt 0 {
    modeDirection = !modeDirection; // 切换方向
    while(!MODE_SWITCH); // 等待按键释放
}
*/


// 定义模式枚举
typedef enum {
    MODE_1,
    MODE_2,
    MODE_3,
    MODE_COUNT
} MotorMode;

// 定义状态枚举
typedef enum {
    STATE_IDLE,
    STATE_FORWARD,
    STATE_REVERSE,
    STATE_STOP
} MotorState;

// 全局变量
MotorMode currentMode = MODE_1;
u8 modeDirection = 1; // 1为正序，0为反序
MotorState currentState = STATE_IDLE;
unsigned int timerCount = 0;
unsigned int stepCount = 0;
// 马达正转
void motorForward() {
    usr_set_up_moto(2,LOW_DUTY);
    currentState = STATE_FORWARD;
}

// 马达反转
void motorReverse() {
    usr_set_up_moto(1,LOW_DUTY);
    currentState = STATE_REVERSE;
}

// 马达停止
void motorStop() {
    usr_set_up_moto(0,OFF_DUTY);
    currentState = STATE_STOP;
}


void usr_up_moto_mode()
{
    if((_usr_module_cfg.local_moto_mode==1)||(_usr_module_cfg.local_moto_mode==2))
    {
        timerCount++;
        // 模式1：正转3秒(6个周期)，反转3秒(6个周期)
        if(currentMode == MODE_1) {
            if(timerCount <= 6) {
                motorForward();
            } else if(timerCount <= 12) {
                motorReverse();
            } else {
                timerCount = 0;
                // 切换到下一个模式
                if(modeDirection) {
                    currentMode = (currentMode + 1) % MODE_COUNT;
                } else {
                    currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
                }
            }
        }
        // 模式2：正转1秒(2个周期)停1秒(2个周期)，再正1秒停1秒，反转1秒停1秒，再正转1秒停1秒
        else if(currentMode == MODE_2) {
            switch(stepCount) {
                case 0: case 1: // 正转1秒
                    motorForward();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 2: case 3: // 停止1秒
                    motorStop();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 4: case 5: // 正转1秒
                    motorForward();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 6: case 7: // 停止1秒
                    motorStop();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 8: case 9: // 反转1秒
                    motorReverse();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 10: case 11: // 停止1秒
                    motorStop();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 12: case 13: // 正转1秒
                    motorForward();
                    if(timerCount % 2 == 0) stepCount++;
                    break;
                case 14: case 15: // 停止1秒
                    motorStop();
                    if(timerCount % 2 == 0) {
                        stepCount = 0;
                        timerCount = 0;
                        // 切换到下一个模式
                        if(modeDirection) {
                            currentMode = (currentMode + 1) % MODE_COUNT;
                        } else {
                            currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
                        }
                    }
                    break;
            }
        }
        // 模式3：连续4次，每次转500ms(1个周期)停1秒(2个周期)
        else if(currentMode == MODE_3) {
            if(stepCount < 8) { // 总共8个步骤（4次转停）
                if(stepCount % 2 == 0) { // 奇数步骤：转500ms
                    motorForward();
                } else { // 偶数步骤：停1秒
                    motorStop();
                }
                stepCount++;
            } else {
                stepCount = 0;
                timerCount = 0;
                // 切换到下一个模式
                if(modeDirection) {
                    currentMode = (currentMode + 1) % MODE_COUNT;
                } else {
                    currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
                }
            }
        }

        usr_var.usr_auto_off_cnt++;
        if(usr_var.usr_auto_off_cnt>=1200)
        {
            usr_var.usr_auto_off_cnt=0;
            _usr_module_cfg.local_moto_mode=0;
            //_usr_module_cfg.power_on_flag=0;
        }
    }
    else
    {
        //if(_usr_module_cfg.local_moto_mode==0)
        //{
            usr_var.usr_auto_off_cnt=0;
        //}
        //else
        //{

        //}
    }
}



void usr_up_moto_mode2()
{
    timerCount++;
    // 模式1：正转3秒(6个周期)，反转3秒(6个周期)
    if(currentMode == MODE_1) {
        if(timerCount <= 6) {
            motorForward();
        } else if(timerCount <= 12) {
            motorReverse();
        } else {
            timerCount = 0;
            // 切换到下一个模式
            if(modeDirection) {
                currentMode = (currentMode + 1) % MODE_COUNT;
            } else {
                currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
            }
        }
    }
    // 模式2：正转1秒(2个周期)停1秒(2个周期)，再正1秒停1秒，反转1秒停1秒，再正转1秒停1秒
    else if(currentMode == MODE_2) {
        switch(stepCount) {
            case 0: case 1: // 正转1秒
                motorForward();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 2: case 3: // 停止1秒
                motorStop();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 4: case 5: // 正转1秒
                motorForward();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 6: case 7: // 停止1秒
                motorStop();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 8: case 9: // 反转1秒
                motorReverse();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 10: case 11: // 停止1秒
                motorStop();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 12: case 13: // 正转1秒
                motorForward();
                if(timerCount % 2 == 0) stepCount++;
                break;
            case 14: case 15: // 停止1秒
                motorStop();
                if(timerCount % 2 == 0) {
                    stepCount = 0;
                    timerCount = 0;
                    // 切换到下一个模式
                    if(modeDirection) {
                        currentMode = (currentMode + 1) % MODE_COUNT;
                    } else {
                        currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
                    }
                }
                break;
        }
    }
    // 模式3：连续4次，每次转500ms(1个周期)停1秒(2个周期)
    else if(currentMode == MODE_3) {
        if(stepCount < 8) { // 总共8个步骤（4次转停）
            if(stepCount % 2 == 0) { // 奇数步骤：转500ms
                motorForward();
            } else { // 偶数步骤：停1秒
                motorStop();
            }
            stepCount++;
        } else {
            stepCount = 0;
            timerCount = 0;
            // 切换到下一个模式
            if(modeDirection) {
                currentMode = (currentMode + 1) % MODE_COUNT;
            } else {
                currentMode = (currentMode == 0) ? MODE_COUNT - 1 : currentMode - 1;
            }
        }
    }

    if((_usr_module_cfg.local_moto_mode>0)&&(_usr_module_cfg.local_moto_mode<3))usr_var.usr_auto_off_cnt++;
    if(usr_var.usr_auto_off_cnt>=1200)
    {
        usr_var.usr_auto_off_cnt=0;
        usr_var.usr_allow_to_sleep_cnt=6;
        _usr_module_cfg.local_moto_mode=0;
        //_usr_module_cfg.power_on_flag=0;
        //sys_timeout_add(NULL,usr_le_120_notify_data,100);
        sys_timeout_add(NULL,usr_write_device_sta,600);
    }
}
void usr_clear_up()
{
    timerCount = 0;
    stepCount = 0;
}


void usr_clear_moto()
{
    _usr_module_cfg.local_moto_mode=0;
    _usr_module_cfg.usr_dizhuo_mode=0;
    _usr_module_cfg.usr_douban_mode=0;
    _usr_module_cfg.usr_doumaoshoudong=0;
}

u8 usr_get_work_status()
{
    if((_usr_module_cfg.local_moto_mode==0)&&\
      (_usr_module_cfg.usr_dizhuo_mode==0)&&\
      (_usr_module_cfg.usr_douban_mode==0)&&\
      (_usr_module_cfg.usr_doumaoshoudong==0))
    {
        return 0;
    }

    return 1;
}

u8 usr_allow_to_sleep()
{
    if((usr_get_work_status()==0)&&(usr_var.usr_power_charge_flag==2))
    {
        if(usr_var.usr_goto_pair==0)
        {
            if((_usr_module_cfg.local_moto_mode==0)||(_usr_module_cfg.local_moto_mode==3))
            {
                return 1;
            }
            else
            {
                return 0;
            }
        }
        else
        {
            return 0;
        }
    }
    return 0;
}

static u8 usr_work_idle_query(void)
{
    if(usr_var.usr_allow_to_sleep_cnt)return 0;
    if((_usr_module_cfg.power_on_flag==0)&&(usr_var.usr_power_charge_flag==2))
    {
        return 1;
    }

    if(usr_allow_to_sleep())
    {
        return 1;
    }
    else
    {
        return 0;
    }
}
REGISTER_LP_TARGET(usr_work_lp_target) = {
    .name = "usr_work_lp",
    .is_idle = usr_work_idle_query,
};

void usr_printf_sta()
{
    //printf("local_moto %d  usr_dizhuo %d  usr_douban %d usr_shoudong%d charge_flag %d usr_var.usr_goto_pair %d\n",_usr_module_cfg.local_moto_mode,_usr_module_cfg.usr_dizhuo_mode,_usr_module_cfg.usr_douban_mode,_usr_module_cfg.usr_doumaoshoudong,usr_var.usr_power_charge_flag,usr_var.usr_goto_pair);
}

void usr_moto_main()
{
    static u8 down_cycle_cnt=0;
    static u8 up_cycle_cnt=0;
    static u8 up_dir=1;
    //printf("usr_moto_main\n");
    usr_printf_sta();
    if(usr_var.usr_allow_to_sleep_cnt)usr_var.usr_allow_to_sleep_cnt--;
    if(usr_var.usr_power_charge_flag==1)
    {
        //_usr_module_cfg.local_moto_mode=3;
        usr_set_up_moto(0,DIR_F);
        usr_set_down_moto(0,DIR_F);
        return;
    }
    if(_usr_module_cfg.power_on_flag==0)
    {
        usr_var.usr_auto_off_cnt=0;
        usr_set_up_moto(0,DIR_F);
        usr_set_down_moto(0,DIR_F);
        return;
    }

    if(usr_var.usr_goto_pair)
    {
        _usr_module_cfg.local_moto_mode=0x03;
        usr_var.usr_auto_off_cnt=0;
        usr_set_up_moto(0,DIR_F);
        usr_set_down_moto(0,DIR_F);
        return;
    }
    switch(_usr_module_cfg.local_moto_mode)
    {
    case 0x00:///关闭
        if(_usr_module_cfg.power_on_flag==0)
        {
            usr_var.usr_auto_off_cnt=0;
            usr_set_up_moto(0,DIR_F);
            usr_set_down_moto(0,DIR_F);
        }
        else
        {
            switch(_usr_module_cfg.usr_dizhuo_mode)///0：关闭；1：平稳；2：狂转
            {
                case 0x01:///平稳
                    usr_pwm_reinit();
                    if(down_cycle_cnt<=3)
                    {
                        usr_set_down_moto(1,LOW_DUTY-10);
                    }
                    else if(down_cycle_cnt==4)
                    {
                        usr_set_down_moto(0,OFF_DUTY);
                    }
                    else
                    {
                        usr_set_down_moto(2,LOW_DUTY-10);
                    }
                    down_cycle_cnt++;
                    if(down_cycle_cnt>8)
                    {
                        down_cycle_cnt=0;
                        usr_set_down_moto(0,DIR_F);
                    }
                    break;
                case 0x02:///狂转
                    usr_pwm_reinit();
                    if(down_cycle_cnt<=5)
                    {
                        usr_set_down_moto(1,HIG_DUTY);
                    }
                    else if(down_cycle_cnt==6)
                    {
                        usr_set_down_moto(0,OFF_DUTY);
                    }
                    else
                    {
                        usr_set_down_moto(2,HIG_DUTY);
                    }
                    down_cycle_cnt++;
                   // printf("down_cycle_cnt = %d\n",down_cycle_cnt);
                    if(down_cycle_cnt>12)
                    {
                        down_cycle_cnt=0;
                        usr_set_down_moto(0,DIR_F);
                    }
                    break;
                default:
                    usr_set_down_moto(0,OFF_DUTY);
                    break;
            }

            if(_usr_module_cfg.usr_douban_mode==0)
            {
                if(_usr_module_cfg.usr_doumaoshoudong==0)
                {
                    usr_set_up_moto(0,DIR_F);
                }
                else
                {
                    usr_pwm_reinit();
                    usr_set_up_moto(_usr_module_cfg.usr_doumaoshoudong,LOW_DUTY+10);
                    up_cycle_cnt++;
                    if(up_cycle_cnt>=3)
                    {
                        _usr_module_cfg.usr_doumaoshoudong=0;
                        up_cycle_cnt=0;
                    }
                }
            }
            else
            {
                //up_cycle_cnt=0;
                switch(_usr_module_cfg.usr_douban_mode)//逗猫棒摇动模式     | 0：关闭；1：自动; 2：转圈; 3:抖动;
                {
                case 0x01:
                    usr_pwm_reinit();
                    up_cycle_cnt=0;
                    usr_up_moto_mode2();
                   // putchar('1');
                    break;
                case 0x02:
                    usr_pwm_reinit();
                    usr_clear_up();
                    if(up_cycle_cnt<=10)
                    {
                        usr_set_up_moto(1,LOW_DUTY+20);
                    }
                    else if(up_cycle_cnt==11)
                    {
                        usr_set_up_moto(0,0);
                    }
                    else
                    {
                        usr_set_up_moto(2,LOW_DUTY+20);
                    }
                    up_cycle_cnt++;
                    if(up_cycle_cnt>22)
                    {
                        usr_set_up_moto(0,0);
                        up_cycle_cnt=0;
                    }
                    //printf("up_cycle_cnt = %d\n",up_cycle_cnt);
                    break;
                case 0x03:
                    usr_pwm_reinit();
                    usr_clear_up();
                    up_cycle_cnt++;
                    if(up_dir==0)up_dir=1;
                    if((up_cycle_cnt%2)==0)
                    {
                        usr_set_up_moto(0,0);
                    }
                    else
                    {
                        usr_set_up_moto(up_dir,LOW_DUTY+10);
                    }
                    if(up_cycle_cnt>20)
                    {
                        up_cycle_cnt=0;
                        if(up_dir==1)up_dir=2;
                        else up_dir=1;
                    }
                    //putchar('3');
                    break;
                default:
                    //putchar('4');
                    break;
                }
            }
        }
        break;
    case 0x01:///打鸡血
        up_cycle_cnt=0;
        usr_pwm_reinit();
        usr_up_moto_mode();
        if(down_cycle_cnt<=5)
        {
            usr_set_down_moto(1,HIG_DUTY);
        }
        else if(down_cycle_cnt==6)
        {
            usr_set_down_moto(0,DIR_F);
        }
        else
        {
            usr_set_down_moto(2,HIG_DUTY);
        }
        down_cycle_cnt++;
       // printf("down_cycle_cnt = %d\n",down_cycle_cnt);
        if(down_cycle_cnt>12)
        {
            down_cycle_cnt=0;
            usr_set_down_moto(0,DIR_F);
        }
        break;
    case 0x02:///佛系
        up_cycle_cnt=0;
        usr_pwm_reinit();
        usr_up_moto_mode();
        if(down_cycle_cnt<=3)
        {
            usr_set_down_moto(1,LOW_DUTY-10);
        }
        else if(down_cycle_cnt==4)
        {
            usr_set_down_moto(0,DIR_F);
        }
        else
        {
            usr_set_down_moto(2,LOW_DUTY-10);
        }
        down_cycle_cnt++;
        if(down_cycle_cnt>8)
        {
            down_cycle_cnt=0;
            usr_set_down_moto(0,DIR_F);
        }
        break;
    case 0x03:///配对中
        up_cycle_cnt=0;
        down_cycle_cnt=0;
        usr_var.usr_auto_off_cnt=0;
        usr_set_up_moto(0,DIR_F);
        usr_set_down_moto(0,DIR_F);
        break;
    }


    //printf("down_cycle_cnt = %d  local_moto_mode = %d\n ",down_cycle_cnt,local_moto_mode);
}