#include "beep_logic_app.h"
#include "led.h"
#include "beep.h"
#include "global_param.h"
#include "dw_app.h"

#define ONTIME1 1   // 100ms
#define OFFTIME1 0  // 100ms

#define ONTIME2 1   // 100ms
#define OFFTIME2 0  // 100ms

#define ONTIME3 5   // 500ms
#define OFFTIME3 5  // 500ms

int32_t min_dist1,min_dist2;
extern u16 JDQ_time;
u8 JDQgroup1_state,JDQgroup2_state;
void Relay1Task(void)
{
    static u8 distoffset1=0,distoffset2=0;
    static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
         if (min_dist1 <= g_com_map[ALARM_DISTANCE2]+distoffset1)
                {
                   JDQgroup1_state=2;
                }
         else if (min_dist1 <= g_com_map[ALARM_DISTANCE3]+distoffset2)
                {
                   JDQgroup1_state=1;
                }
                else{
                    JDQgroup1_state=0;
                }
								
				if (min_dist2 <= g_com_map[RELAY2_DISTANCE2]+distoffset1)
                {
                   JDQgroup2_state=2;
                }
         else if (min_dist2 <= g_com_map[RELAY2_DISTANCE3]+distoffset2)
                {
                   JDQgroup2_state=1;
                }
                else{
                    JDQgroup2_state=0;
                }
								
								if(JDQgroup1_state==2||JDQgroup2_state==2)
								{
								 beep_ontime = 1;
                    beep_offtime = 0;
                    beep_state=2;
                    distoffset1=0;
                    distoffset2=0;
                    beep_timer = 0;
                    timer_state = 1;
								}else if(JDQgroup1_state==1||JDQgroup2_state==1)
								{
								 beep_ontime = JDQ_time;
                    beep_offtime = JDQ_time;
                    beep_state=1;
                    distoffset1=0;
                    distoffset2=0;
								}else{
									beep_state=0;
                    distoffset1=0;
                    distoffset2=0;
                    beep_timer = 0;
                    timer_state = 1;
								}
                
                if(beep_state!=0)
                {
                    if(timer_state==1)
                    {
                        if(beep_timer++ < beep_ontime)
                        {
													RELAY2_ON;
                            RELAY1_ON;
                           		
                        }else{
                            timer_state=0;
                            beep_timer=0;
                        }
                    }else{
                        if(beep_timer++ < beep_offtime)
                            {
															RELAY2_OFF;
                                RELAY1_OFF;
                       
                            }else{
                                    timer_state=1;
                                    beep_timer=0;
                            }
                        
                    }
                }else {
                    RELAY1_OFF;
                     RELAY2_OFF;
                }
}
void Relay2Task(u16 min_dist)
{
    static u8 distoffset12=0,distoffset22=0;
    static uint8_t beep_state2,timer_state2,beep_timer2,beep_ontime2,beep_offtime2;
         if (min_dist <= g_com_map[RELAY2_DISTANCE2]+distoffset12)
                {
                    beep_ontime2 = 1;
                    beep_offtime2 = 0;
                    beep_state2=2;
                    distoffset12=0;
                    distoffset22=0;
                    timer_state2=1;
                    beep_timer2=0;
                }
         else if (min_dist <= g_com_map[RELAY2_DISTANCE3]+distoffset22)
                {
                    beep_ontime2 = JDQ_time;
                    beep_offtime2 = JDQ_time;
                    beep_state2=1;
                    distoffset12=0;
                    distoffset22=0;
                }
                else{
                    beep_state2=0;
                    distoffset12=0;
                    distoffset22=0;
                    timer_state2=1;
                    beep_timer2=0;
                }
                
                if(beep_state2!=0)
                {
                    if(timer_state2==1)
                    {
                        if(beep_timer2++ < beep_ontime2)
                        {
                            RELAY2_ON;
                           		
                        }else{
                            timer_state2=0;
                            beep_timer2=0;
                        }
                    }else{
                        if(beep_timer2++ < beep_offtime2)
                            {
                                RELAY2_OFF;
                       
                            }else{
                                    timer_state2=1;
                                    beep_timer2=0;
                            }
                        
                    }
                }else {
                   // RELAY1_OFF;
                     RELAY2_OFF;
                }
}
#define RELAY2IDHEAD  9 
extern u16 tagid_list[TAG_NUM_IN_SYS];
void main_logic(void)	//Ö÷Âß¼­ÔÚÕâÀïÖ´ÐÐ
{	
	uint16_t i;
	//³ýUWBÖ®ÍâµÄÆäËû´úÂë...
	static uint16_t beep_judge_cnt = 0;
    if(g_com_map[ALARM_DISTANCE1]!=0||g_com_map[ALARM_DISTANCE2]!=0||g_com_map[ALARM_DISTANCE3]!=0||g_com_map[RELAY2_DISTANCE1]!=0||g_com_map[RELAY2_DISTANCE2]!=0||g_com_map[RELAY2_DISTANCE3]!=0)
    {
            if(beep_judge_cnt++ >= 100)
            {	
                beep_judge_cnt = 0;
                min_dist1=0x1ffff;
                min_dist2=0x1ffff;
                for(i = 0; i < 255;i++)
                {
									if((tagid_list[i]>>12)!=RELAY2IDHEAD)
									{
                    if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
                    {
                        min_dist1=g_Tagdist[i];
                    }
									}else{
                    if(g_Tagdist[i] < min_dist2&&g_Tagdist[i]>g_com_map[RELAY2_DISTANCE1])
                    {
                        min_dist2=g_Tagdist[i];
                    }
									}                   
                }
                Relay1Task();
               // Relay2Task(min_dist2);
         
            }
    }else{
        if(g_com_map[RELAY1ON_INDEX]==1)
            {
             RELAY1_ON;
            }else if(g_com_map[RELAY1ON_INDEX]==0)
            {
             RELAY1_OFF;
            }
        if(g_com_map[RELAY2ON_INDEX]==1)
            {
             RELAY2_ON;
            }else if(g_com_map[RELAY2ON_INDEX]==0)
            {
             RELAY2_OFF;
            }    
    }
}