#include "app_line_seek.h"

#include "line_seek.h"
#include "main.h"
#include "motor.h"
#include "path_plan.h"
#include "syscalls.h"

// #define LOW_SPEED 30
// #define MID_SPEED 35
// #define HIGH_SPEED 40

#define LOW_SPEED 25
#define MID_SPEED 30
#define HIGH_SPEED 35


void App_LineSeek(void)
{
    int LineL1 = 1, LineL2 = 1, LineR1 = 1, LineR2 = 1;

    LineSeek_GetStatus(&LineL1, &LineL2, &LineR1, &LineR2); // 获取黑线检测状态

    LineSeek_GetStatusStr();
    printf("%s\n", LineSeek_Status);

    // return;

    if (LineSeek_Equals("0000")) // 丁字（十字）路口
    {
        buzzer(1);

        // 根据规划的路径进行决断
        switch (GetNextDirection())
        {
            case STRAIGHT:
                MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED); // 直走
                break;
            case LEFT:
                MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); // 左转
                break;
            case RIGHT:
                MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); // 右转
                break;
            default:
                MOTOR_Stop();
                break;
        }
    }
    else
    {
        buzzer(0);
    }

    if (LineSeek_Equals("1000")) // 右直角
    {
        MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); // 右旋
        // HAL_Delay(80);
    }
    else if (LineSeek_Equals("0001")) // 左直角
    {
        MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); // 左旋;
        // HAL_Delay(80);
    }
    else if (LineSeek_Equals("0xx1")) // 左最外侧检测(锐角)
    {
        MOTOR_SetDuty(-HIGH_SPEED, MID_SPEED); // 左旋
        // HAL_Delay(80);
    }
    else if (LineSeek_Equals("1xx0")) // 右最外侧检测(锐角)
    {
        MOTOR_SetDuty(MID_SPEED, -HIGH_SPEED); // 右旋
        // HAL_Delay(80);
    }
    else if (LineSeek_Equals("x01x")) // 中间黑线上的传感器微调车左转
    {
        MOTOR_SetDuty(0, LOW_SPEED); // 左转
    }
    else if (LineSeek_Equals("x10x")) // 中间黑线上的传感器微调车右转
    {
        MOTOR_SetDuty(LOW_SPEED, 0); // 右转
    }
    else if (LineSeek_Equals("x00x")) // 都是黑色, 加速前进
    {
        MOTOR_SetDuty(MID_SPEED, MID_SPEED); // 直走
    }
}