#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;
typedef enum{	
    NO_ALARM,
    YUJING_ALARM,
    BAOJING_ALARM,
}alarm_state;
alarm_state alarm1 = NO_ALARM,alarm2 = NO_ALARM;
void Relay1Task(u16 min_dist)
{
    static u8 distoffset1=0,distoffset2=0;
    static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
         if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
                {
                    alarm1 = BAOJING_ALARM;
                }
         else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
                {
                    alarm1 = YUJING_ALARM;
                }
                else{
                    alarm1 = NO_ALARM;
                }
                
//                if(beep_state!=0)
//                {
//                    if(timer_state==1)
//                    {
//                        if(beep_timer++ < beep_ontime)
//                        {
//                            RELAY1_ON;
//                           		
//                        }else{
//                            timer_state=0;
//                            beep_timer=0;
//                        }
//                    }else{
//                        if(beep_timer++ < beep_offtime)
//                            {
//                                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)
                {
                    alarm2 = BAOJING_ALARM;
                }
         else if (min_dist <= g_com_map[RELAY2_DISTANCE3]+distoffset22)
                {
                    alarm2 = YUJING_ALARM;
                }
                else{
                    alarm2 = NO_ALARM;
                }
                
//                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;
//                }
}
void AlarmJuge(void)
{
    if(alarm1 == BAOJING_ALARM||alarm2 == BAOJING_ALARM)
    {
        RELAY1_ON;
        RELAY2_ON;
        return;
    }else{
        RELAY1_OFF;
    }
    if(alarm1 == YUJING_ALARM||alarm2 == YUJING_ALARM)
    {
        RELAY2_ON;
    }else{
        RELAY2_OFF;
    }
}
extern uint16_t tagid_list[TAG_NUM_IN_SYS];
extern u16 taglist_num;
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 < taglist_num;i++)
                {
                    if((tagid_list[i]>>12)!=9)
                    {
                        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(min_dist1);
                Relay2Task(min_dist2);    
                AlarmJuge();                
            }
    }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;
            }    
    }
}