// AutoPathRunner.h

#ifndef _AUTOPATHRUNNER_h
#define _AUTOPATHRUNNER_h

#if defined(ARDUINO) && ARDUINO >= 100
	#include "arduino.h"
#else
	#include "WProgram.h"
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "OpenMVOpt.h"
#include <Ultrasonic.h>
#include "AccurateMotor.h"
#include "GarageCommand.h"
#include "CommandDecoder.h"
#include "ZigBeeOperator.h"

namespace AutoPathRunner
{
	enum class TurnDirection
	{
		Null,
		Left,
		Right
	};

	enum class CarHeadPosition
	{
		X_Positive,
		Y_Positive,
		X_Negitive,
		Y_Negitive
	};

	class MapPoint
	{
	private:
		int x, y;
	public:
		MapPoint();
		MapPoint(int x, int y);
	public:
		int GetX();
		int GetY();
		void SetX(int x);
		void SetY(int y);
		bool NeedTurn(MapPoint next, CarHeadPosition pos);
		TurnDirection CalcTurnDirection(MapPoint next, CarHeadPosition pos);
	public:
		MapPoint operator=(const MapPoint& obj);
		bool operator==(const MapPoint& obj);
	};

	struct PointMapper
	{
		char name[3] = { 0 };
		MapPoint point;

		PointMapper();
		PointMapper(const char* n, const MapPoint& p);
	};

	MapPoint Mapping(const char* name);
	const char* ReverseMapping(MapPoint point);
	void ChangePositon(CarHeadPosition& pos, TurnDirection turn);
	CarHeadPosition Int2Position(int pos);
	bool TrackCallback();

	//解析路线
	MapPoint* DecodeRoute(const char* route, int& point_cnt);
	//执行路径指令
	void DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos);
	//区分RFID卡和特殊地形标志物
	bool IsSpecTerrainItem();
	//倒车入库
	//a_b_select:车库标志物选择，true -> A, false -> B
	void ReversingIntoGarage(bool a_b_select, uint8_t target_floor);
};

#endif