// File: Moves.h
//------------------------------------------------------------------------------
// Author: Giovanni de Sanctis
// Email: info@lateral-technologies.com
//------------------------------------------------------------------------------
// Date: Dec 2018
// Manages the tail moves and LED patterns
//------------------------------------------------------------------------------


#ifndef MOVES_H
#define	MOVES_H

#include <stdint.h>

#define MAX_MOVES       5u		//Max number of positions per cycle
#define MAX_PATTERNS    32u		//Max steps in a LED pattern
#define MAX_CYCLES      1000u   //Max number of cycles (only a safety limit, not critical)
#define MAX_MOVE_POS    9u      //Max number of preset positions of the servos (P0..P8)
#define MAX_LEDS_POS    9u      //Max number of preset brightness levels for the led strip
#define MAX_STEP_VAL    127u    //Max value for parameter step (both servos and leds)
#define MAX_CMD_LEN     8u		//Max number of char in a BT command
#define MAX_LEDS_CMDS   13u     //Number of LEDs commands
#define MAX_MOVE_CMDS   16u     //Number of Tail move commands

#define MAX_USER_MOVES  4u      //Max number of user presets for moves
#define MAX_USER_LEDS   4u      //Max number of user presets for led patterns

#define MAX_GRP_SLOW    3u      //Slow wag group
#define MAX_GRP_FAST    3u      //Fast wag group
#define MAX_GRP_TREM    3u      //Trembling group
#define MAX_GRP_EREC    1u      //Erected group
#define MAX_GRP_RAND    16u     //Max pseudo random moves and intervals

#define MAX_GRP_BT      3u      //Number of groups
#define MAX_MOV_BT      4u      //Number of moves in each group

#define MASK_GRP_BT1    1u      //Bit mask for group 1
#define MASK_GRP_BT2    2u      //Bit mask for group 2
#define MASK_GRP_BT3    3u      //Bit mask for group 3

#define MAX_LED_GRPA    2u      //Leds ON/OFF
#define MAX_LED_GRPB    3u      //Leds Rect/Tri/Saw
#define MAX_LED_GRPC    2u      //Leds Beacon/SOS

typedef struct MoveType
{
  uint8_t cycles;				//Times the pattern is repeated
  int8_t pos1[MAX_MOVES];       //Positions for servo 1
  int8_t pos2[MAX_MOVES];       //Positions for servo 2
  int8_t steps[MAX_MOVES];    //Total number of steps from 1 pos to next
}MoveType;

typedef struct LedsType
{
  uint8_t cycles;				//Times the patterns is repeated (0=default duration)
  int8_t pos[MAX_PATTERNS];     //Brightness points
  int8_t steps[MAX_PATTERNS]; //Steps in between points
}LedsType;

typedef struct MoveCmd
{
  char cmdStr[MAX_CMD_LEN+1];
  const MoveType* cmd;
}MoveCmd;

typedef struct LedsCmd
{
  char cmdStr[MAX_CMD_LEN+1];
  const LedsType* cmd;
}LedsCmd;

typedef struct MoveStruct
{
  const MoveType* movePtr;
  uint8_t   moveIter;
  uint8_t   cycIter;
  int16_t   stepIter;
  int16_t   pos1,pos2,steps;
  int16_t   d1,d2;
}MoveStruct;

typedef struct LedsStruct
{
  const LedsType* ledsPtr;
  uint8_t   moveIter;
  int16_t   stepIter;
  int16_t   cycIter;
  int16_t   steps;
  int16_t   pos;
  int16_t   d;
}LedsStruct;

typedef struct AutoStruct
{
  uint8_t  t1,t2;           //Min and max pause time in 
  uint16_t timeout;         //timeout in T_SERVO units
  uint16_t pause;           //pause in T_SERVO units
  uint8_t  grps;            //Move groups (last 3 lsbs)
}AutoStruct;

typedef enum
{
  ACK_WAITING=0x00,
  ACK_END_MOVE=0x01,
  ACK_END_LEDS=0x02,
  ACK_RUNNING=0x03,
  ACK_END_AUTO=0x04
}AckEnum;

extern const MoveCmd MOVE_CMDS[MAX_MOVE_CMDS];
extern const LedsCmd LEDS_CMDS[MAX_LEDS_CMDS];

extern const MoveType* const moveGrpSlow[MAX_GRP_SLOW];
extern const MoveType* const moveGrpFast[MAX_GRP_FAST];
extern const MoveType* const moveGrpTrem[MAX_GRP_TREM];
extern const MoveType* const moveGrpErec[MAX_GRP_EREC];

extern const MoveType* const moveRndGrp[MAX_GRP_RAND];    //Random moves
extern const uint8_t   moveRndGrpT[MAX_GRP_RAND];         //Random set times 

//Move groups (used in RF mode)
extern const LedsType* const ledsGrpA[MAX_LED_GRPA];
extern const LedsType* const ledsGrpB[MAX_LED_GRPB];
extern const LedsType* const ledsGrpC[MAX_LED_GRPC];

//Move groups for 'auto moves' (used in BT mode)
extern const MoveType* const moveGrpBT[MAX_GRP_BT][MAX_MOV_BT];

void movesInit();

//Stores user-defined move/led pattern to the specified preset location
uint8_t setUserMove(uint8_t preset,uint8_t len,uint8_t cycles,int8_t *pos1,int8_t *pos2,int8_t *steps);
uint8_t setUserLeds(uint8_t preset,uint8_t len,uint8_t cycles,int8_t *pos,int8_t *steps);

//Sets up automatic mode (random moves for a specified length of time)
void setAuto(uint8_t t1, uint8_t t2, uint8_t dur, uint8_t grps);

//Cancels an ongoing 'auto move' session - will finish the current move if one is running
void abortAuto();

//Sets up move variables for updateMove()
void setMove(const MoveType* movePtr);

//Updates the position of the servos to the next in the current move description
//Returns 1 if the move is complete (and returned home)
AckEnum updateMove();

//Sets up led pattern variables for updateLeds()
void setLEDs(const LedsType* patt);

//Updates the brightness of the LED strip to the next in the current description
//Returns 1 if the pattern is complete
AckEnum updateLEDs();

#endif	/* MOVES_H */