//
// Created by macheng on 2018/5/2.
//

#ifndef STATEMACHINE_H
#define STATEMACHINE_H

#include "message.h"
#include "config.h"

////
#define INST_DONE_WAIT_FOR_NEXT_EVENT   	1   //this signifies that the current event has been processed and instance is ready for next one
#define INST_DONE_WAIT_FOR_NEXT_EVENT_TO    2   //this signifies that the current event has been processed and that instance is waiting for next one with a timeout
                                        		//which will trigger if no event coming in specified time
#define INST_NOT_DONE_YET               	0   //this signifies that the instance is still processing the current event



//Listener = in this mode, the instance only receives frames, does not respond
//Tag = Exchanges DecaRanging messages (Poll-Response-Final) with Anchor and enabling Anchor to calculate the range between the two instances
//Anchor = see above
//Anchor_Rng = the anchor (assumes a tag function) and ranges to another anchor - used in Anchor to Anchor TWR for auto positioning function
typedef enum instanceModes{
    LISTENER=0x00000000,
    TAG=0x00000001,
    ANCHOR,
    ANCHOR_RNG,
    NUM_MODES
} INST_MODE;

typedef enum inst_states
{
    TA_INIT = 0, //0
    TA_TXRESPONSE_WAIT_SEND,    //4 - a place holder - response is sent from call back
    TA_TX_WAIT_CONF,            //5 - confirmation of TX done message

    TA_RXE_WAIT,                //6
    TA_RX_WAIT_DATA,            //7

    TA_TXRESPONSE_SENT_POLLRX,    //9
    TA_TXRESPONSE_SENT_RESPRX,    //10
    TA_TXRESPONSE_SENT_TORX		  //11

} INST_STATES;


typedef struct _anc_resp_record_{
    uint16_t address;
    uint16_t rangNum;
    uint32_t tof;
    uint32_t tickTime;
}stAncRespRecord;

typedef struct _anc_resp_time_{
    uint16_t address;
    uint8_t ancRespRxTime[TIMESTAME_LENGTH];
}stAncRespTime;

typedef struct _tag_final_record_{
    uint16_t tagAddress;
    uint8_t rangNum;
    uint8_t tagPollTxTime[TIMESTAME_LENGTH];
    stAncRespTime ancRespTimes[MAX_ANCHOR_LIST_SIZE];
    uint8_t tagFinalTxTime[TIMESTAME_LENGTH];
}stTagFinalRecord;

typedef struct {
    INST_MODE mode;				//instance mode (anchor)

    INST_STATES testAppState ;			//state machine - current state
    INST_STATES nextState ;				//state machine - next state
    INST_STATES previousState ;			//state machine - previous state
    int done ;					//done with the current event/wait for next event to arrive

    int8_t   responseTO ;
    //uint8_t  isAncResp ;

    uint8_t	wait4ack ;				// if this is set to DWT_RESPONSE_EXPECTED, then the receiver will turn on automatically after TX completion
    uint8_t	gotTO;					// got timeout event appState_TA_TX_WAIT_CONF

    int newRange;			//flag set when there is a new range to report TOF_REPORT_A2A or TOF_REPORT_T2A
    int newRangeAncAddress; //last 4 bytes of anchor address - used for printing/range output display
    int newRangeTagAddress; //last 4 bytes of tag address - used for printing/range output display
    uint32_t newRangeTime;
}state_machine;

#endif //STATEMACHINE_H