#include "MotorCtrl.h"

#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"

static uint8_t amCtrl_state = 0,am_state_machine = 0;
static uint16_t am_state_machine_counter = 0;
static uint8_t amCtrl_YTstate;
static void amCtrl_Act1(void);
static void amCtrl_Act2(void);
static void amCtrl_Act3(void);
static uint16_t amCtrl_counter;

void amCtrl_Init(void)
{
    amCtrl_state = 0;
    am_state_machine_counter = 0;
}

void amCtrl_SetState(uint8_t state)
{
    amCtrl_state = state;
    am_state_machine = 0;
    am_state_machine_counter = 0;
    amCtrl_YTstate = 0;
}

void amCtrl_SetYTState(QD_STATE_type qd1,QD_STATE_type qd2)
{
    if (amCtrl_state != 0)
    {
        return;
    }
    
    switch (qd1)
    {
    case QD_NONE_ACT:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        break;
    case QD_CQ:
        setPumpState(PUMP_ON);
        setValveState(VALVE1,VALVE_ON);
        setValveState(VALVE6,VALVE_OFF);
        break;
    case QD_FQ:
        //setPumpState(PUMP_ON);
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE6,VALVE_ON);
        break;
    default:
        break;
    }
    switch (qd2)
    {
    case QD_NONE_ACT:
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        break;
    case QD_CQ:
        setPumpState(PUMP_ON);
        setValveState(VALVE2,VALVE_ON);
        setValveState(VALVE7,VALVE_OFF);
        break;
    case QD_FQ:
        //setPumpState(PUMP_ON);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE7,VALVE_ON);
        break;
    default:
        break;
    }
    if (qd1 == QD_NONE_ACT && qd2 == QD_NONE_ACT)
    {
        setPumpState(PUMP_OFF);
        amCtrl_YTstate = 0;
    }
    else
    {
        amCtrl_YTstate = 1;
    }
    
}

void amCtrl_Task(void)//50ms
{
    if (amCtrl_state == 0)
    {
        if (amCtrl_YTstate == 0)
        {
            setPumpState(PUMP_OFF);
        }
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine = 0;
        am_state_machine_counter = 0;
        amCtrl_counter = 0;
    }
    else
    {
        setPumpState(PUMP_ON);
        switch (amCtrl_state)
        {
        case 1:
            amCtrl_Act2();
            break;
            
        case 2:
            amCtrl_Act1();
            break;

        case 3:
            amCtrl_Act3();
            break;
        default:
            break;
        }
        /*
        //20240622取消定时15分钟
        amCtrl_counter++;
        if (amCtrl_counter > 18000)
        {
            amCtrl_state = 0;
        }
        */
    }
}

#if CONFIG == HIGH_CONFIG
#define CHONGQI_TIME    130U
static void amCtrl_Act1(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE1,VALVE_ON);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 1:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_ON);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_ON);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;

    case 2:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 3:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 4:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        am_state_machine = 0;
        break;
    }
}

static void amCtrl_Act2(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        setValveState(VALVE6,VALVE_ON);
        setValveState(VALVE7,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 1:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 2:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 3:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_ON);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 4:
        setValveState(VALVE1,VALVE_ON);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        am_state_machine = 0;
        break;
    }
}

static void amCtrl_Act3(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE1,VALVE_ON);
        setValveState(VALVE2,VALVE_ON);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90U)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 1:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_ON);
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_ON);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90U)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 2:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90U)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 3:
        setValveState(VALVE1,VALVE_OFF);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_ON);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90U)
        {
            am_state_machine_counter = 0;
            am_state_machine++;
        }
        break;
    case 4:
        setValveState(VALVE1,VALVE_ON);
        setValveState(VALVE2,VALVE_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        setValveState(VALVE6,VALVE_OFF);
        setValveState(VALVE7,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90U)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        am_state_machine = 0;
        break;
    }
}

#else
#define CHONGQI_TIME 160
static void amCtrl_Act1(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}

static void amCtrl_Act2(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= CHONGQI_TIME)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}

static void amCtrl_Act3(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 110)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 110)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 110)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}

#endif