#include "zf_common_headfile.h"
#include "gl_headfile.h"

enum barrier_type_e barrier_type = BARRIER_NONE;
enum s_type_e s_type             = S_NONE;
uint16 time_barrier;
float (*mid_track_s)[2];
int32_t mid_track_count_s;
int temp_min_s;
int temp_max_s;
int barrier_begin_flag = 0;

void CheckBarrier()
{
    if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
        barrier_type = BARRIER_LEFT_BEGIN;
    }
    if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
        barrier_type = BARRIER_RIGHT_BEGIN;
    }
}

void RunBarrier()
{
    if (barrier_type == BARRIER_LEFT_BEGIN) {
        track_type = TRACK_RIGHT;
        if (barrier_begin_flag == 0) {
            timer_clear(TIM_3);
            timer_start(TIM_3);
            barrier_begin_flag = 1;
        }
    }
    if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
        if (barrier_begin_flag == 1) {
            barrier_type = BARRIER_LEFT_BEGIN;
            time_barrier = timer_get(TIM_3);
            if (time_barrier >= 300 && time_barrier < 600) {
                barrier_type = BARRIER_LEFT_RUNNING;
            } else if (time_barrier >= 600) {
                barrier_type       = BARRIER_NONE;
                barrier_begin_flag = 0;
                timer_stop(TIM_3); 
                timer_clear(TIM_3);
            }
        }
    }

    //     if (Lpt0_found) {
    //         Lpt0_found_count++;
    //     }
    //     if (Lpt0_found_count >= 1) {
    //         Lpt0_found_count = 0;
    //         barrier_type     = BARRIER_LEFT_RUNNING;
    //         track_type       = TRACK_RIGHT;
    //         timer_clear(TIM_3);
    //         timer_start(TIM_3);
    //     }
    // } else if (barrier_type == BARRIER_LEFT_RUNNING) {
    //     track_type   = TRACK_RIGHT;
    //     time_barrier = timer_get(TIM_3);
    //     if (time_barrier >= 220) {
    //         barrier_type = BARRIER_NONE;
    //         track_type   = TRACK_RIGHT;
    //         timer_start(TIM_3);
    //         timer_clear(TIM_3);
    //     }

    if (barrier_type == BARRIER_RIGHT_BEGIN) {
        track_type = TRACK_LEFT;
        if (barrier_begin_flag == 0) {
            timer_clear(TIM_3);
            timer_start(TIM_3);
            barrier_begin_flag = 1;
        }
    }
    if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
        if (barrier_begin_flag == 1) {
            barrier_type = BARRIER_RIGHT_BEGIN;
            time_barrier = timer_get(TIM_3);
            if (time_barrier >= 300 && time_barrier < 600) {
                barrier_type = BARRIER_RIGHT_RUNNING;
            } else if (time_barrier >= 600) {
                barrier_type       = BARRIER_NONE;
                barrier_begin_flag = 0;
                timer_stop(TIM_3);
                timer_clear(TIM_3);
            }
        }
    }

    //     if (Lpt1_found) {
    //         Lpt1_found_count++;
    //     }
    //     if (Lpt1_found_count >= 1) {
    //         Lpt1_found_count = 0;
    //         barrier_type     = BARRIER_RIGHT_RUNNING;
    //         track_type       = TRACK_LEFT;
    //         timer_clear(TIM_3);
    //         timer_start(TIM_3);
    //     }
    // } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
    //     track_type   = TRACK_LEFT;
    //     time_barrier = timer_get(TIM_3);
    //     if (time_barrier >= 220) {
    //         timer_start(TIM_3);
    //         timer_clear(TIM_3);
    //         barrier_type = BARRIER_NONE;
    //         track_type   = TRACK_LEFT;
    //     }
}

void Check_s()
{
    if (track_type == TRACK_LEFT) {
        mid_track_s       = mid_left;
        mid_track_count_s = mid_left_count;
    } else {
        mid_track_s       = mid_right;
        mid_track_count_s = mid_right_count;
    }

    int min_s = 1000;
    int max_s = 1;

    for (int i = 0; i < mid_track_count_s; i++) {
        if (mid_track_s[i][1] < min_s) {
            min_s      = mid_track_s[i][1];
            temp_min_s = min_s;
        }
        if (mid_track_s[i][1] > max_s) {
            max_s      = mid_track_s[i][1];
            temp_max_s = max_s;
        }
    }

    if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5) {
        s_type = S_BEGIN;
    }
}

void RunS()
{

    if (temp_max_s - temp_min_s > 30 || (is_straight0 && is_straight1)) {
        s_type = S_NONE;
    }
}