#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
u8 distoffset1=0,distoffset2=0;
uint16_t min_dist;
void main_logic(void)	//Ö÷Âß¼­ÔÚÕâÀïÖ´ÐÐ
{
	static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
	uint16_t i;
	//³ýUWBÖ®ÍâµÄÆäËû´úÂë...
	static uint16_t beep_judge_cnt = 0;
	if(beep_judge_cnt++ >= 100)
	{	
		beep_judge_cnt = 0;
		min_dist=0xffff;
		for(i = 0; i < 255;i++)
		{
			if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
			{
				min_dist=g_Tagdist[i];
			}
				
		}
		
 if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
		{
			beep_ontime = ONTIME2;
			beep_offtime = OFFTIME2;
			beep_state=2;
			distoffset1=20;
			distoffset2=0;
		}
 else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
		{
			beep_ontime = ONTIME3;
			beep_offtime = OFFTIME3;
			beep_state=1;
			distoffset1=0;
			distoffset2=20;
		}
		else{
			beep_state=0;
			distoffset1=0;
			distoffset2=0;
		}
		
		if(beep_state!=0)
		{
			if(timer_state==1)
			{
				if(beep_timer++ < beep_ontime)
				{
					RELAY1_ON;
					RELAY2_ON;		
				}else{
					timer_state=0;
					beep_timer=0;
				}
			}else{
			    if(beep_timer++ < beep_offtime)
					{
						RELAY1_OFF;
						RELAY2_OFF;
					}else{
							timer_state=1;
							beep_timer=0;
					}
				
			}
		
		}	else {
			RELAY1_OFF;
			 RELAY2_OFF;
		}
	}
}