#include "task_weight_keep.h"
#include "app_config.h"
#include "../bsp/TTSSbsp/bsp_config.h"
#include "../msp/uart/msp_uart1.h"
#include "../clib/c_type51.h"

S_TASK_WEIGHT_KEEP _s_task_weight_keep;

//=============================================
void L3_task_weight_keep_init(void)
{
	L1_task_init(&_s_task_weight_keep.task);
	L3_task_s_go(_s_task_weight_keep,D_task_init);
}

#define D_task_WEIGHT_KEEP_1 0x50
#define D_task_WEIGHT_KEEP_LEAVE_JUDGE 0x51
#define D_task_WEIGHT_KEEP_ENTER_JUDGE 0x52
#define D_task_WEIGHT_KEEP_4 0x53

void L3_task_weight_keep_handler(S_TASK_WEIGHT_KEEP *s)
{
	U16 weight_keep_kgx10 = 0;
	U16 weight_real_kgx10 = 0;
	
	TTSS_Task_init():
		L2_task_go(D_task_WEIGHT_KEEP_1);

	TTSS_Task_step(D_task_WEIGHT_KEEP_1):
		if(R.weight_keep_flag == 1)
		{
//			LED0 = LED0_OFF;
			L0_uart1_str("keep status ");
			L0_uart1_0d0a(); 
			//当前处于保持状态
			//判定是否打破
			//连续1s，100ms检测一次，判断实际重量相比保持重量，超过3kg，取消保持
			s->levelJudgeTimes = 10;
			//3kg
			s->levelWeightThresholdKgx10 = 30;
			// s->levelTimesThreshold = 10;
			s->levelTimes  = 8;
			s->levelTimes = 0;
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_LEAVE_JUDGE, 0);
		}
		else
		{
//			LED0 = LED0_ON;
			L0_uart1_str("not keep status ");
			L0_uart1_0d0a(); 
			//当前处于非保持状态
			//判定是否进入保持状态
			//保持判定：连续2s，100ms检测一次，检测实际称重变化小于0.5kg，则设定保持标志为1，weight_keep_kgx10取3s均值
			s->enterJudgeTimes = 20;
			s->enterTimes = s->enterJudgeTimes;
			//0.5kg
			s->enterWeightThresholdKgx10 = 5;   //10 1kg   5  0.5kg
			s->enterMaxWeight = 0;
			s->enterMinWeight = R.weight.kgx10_out;
			s->enterSumWeight = 0;
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_ENTER_JUDGE, 0);
		}

	TTSS_Task_step(D_task_WEIGHT_KEEP_LEAVE_JUDGE):
		weight_keep_kgx10 = R.weight_keep_kgx10;
		weight_real_kgx10 = R.weight.kgx10_out;
		if(Lc_abs(weight_keep_kgx10, weight_real_kgx10) > s->levelWeightThresholdKgx10)
		{
			s->levelTimes++;
			// L0_uart1_str("i get here here!! s->levelJudgeTimes =  ");
			// L0_uart1_uchex(s->levelJudgeTimes);
			// L0_uart1_0d0a(); 
			// L0_uart1_str("s->levelTimes =  ");
			// L0_uart1_uchex(s->levelTimes);
			// L0_uart1_0d0a(); 
		}
		if(--s->levelJudgeTimes > 0)
		{
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_LEAVE_JUDGE, D_Tdelay_100ms);
		}
		else
		{
			if(s->levelTimes >= s->levelTimesThreshold)
			{

				R.weight_keep_flag = 0;

				L0_uart1_str("s->levelTimesThreshold =  ");
				L0_uart1_uchex(s->levelTimesThreshold);
				L0_uart1_0d0a(); 
			}
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_1, 0);
		}

	TTSS_Task_step(D_task_WEIGHT_KEEP_ENTER_JUDGE):
		weight_real_kgx10 = R.weight.kgx10_out;	
		s->enterSumWeight += weight_real_kgx10;
		if(weight_real_kgx10 < s->enterMinWeight)
		{
			s->enterMinWeight = weight_real_kgx10;
		}
		if(weight_real_kgx10 > s->enterMaxWeight)
		{
			s->enterMaxWeight = weight_real_kgx10;
		}
		if(-- s->enterTimes > 0)
		{
			L0_uart1_str("s->enterTimes =  ");
			L0_uart1_uchex(s->enterTimes);
			L0_uart1_0d0a(); 
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_ENTER_JUDGE, D_Tdelay_100ms);
		}
		else
		{
			if(Lc_abs(s->enterMaxWeight, s->enterMinWeight) < s->enterWeightThresholdKgx10)
			{
				R.weight_keep_flag = 1;
				R.weight_keep_kgx10 = (U16)(s->enterSumWeight / s->enterJudgeTimes);
				
			// L0_uart1_str("i get final !!!!!!!!!!! ");
			// L0_uart1_str("R.weight_keep_kgx10: ");
			// L0_uart1_ushex(R.weight_keep_kgx10);
			}
			L2_task_go_Tdelay(D_task_WEIGHT_KEEP_1, 0);
		}

	TTSS_Task_end();
}