/***************************************************
 * 文件名： phase2_brake_sm.c
 * 摘   要：二次谐波制动状态机 — 显式状态机实现 (Phase 2)
 *
 * 相对于 Phase 1 的变更：
 *   [OK] static 局部变量 → BrakeSM 结构体
 *   [OK] 隐式状态组合 → 显式枚举状态
 *   [OK] 134 行混杂逻辑 → 4 状态 + 清晰转移
 *   [OK] 需要 extern SecHarOcStartFlag 声明迁移到结构中
 *
 * 集成说明：
 *   1. 在调用方创建 BrakeSM brakeSM[FA_FD_NUM] 并初始化为 {BRAKE_IDLE,0,0,0,FALSE}
 *   2. 每周期调用 faFdBrakeJudge_Run(&brakeSM[fd], fd)
 *   3. 复位时调用 faFdBrakeJudge_Reset(&brakeSM[fd], fd)
 ***************************************************/
#include "phase2_brake_sm.h"
#include "phase1_second_har_brake.h"
#include "FANEW.h"
#include "zx8600.h"
#include "vsp5.h"

/*==========================================================================
 * 状态机实现
 *==========================================================================*/
BOOL faFdBrakeJudge_Run(BrakeSM* sm, BYTE fd)
{
    VfaFdRunPara* pRunPara = &faFdRunPara[fd];
    BOOL brakeResult = FALSE;

    /* ------ Step 1: 前置条件检查 ------ */
    if (ShouldSkipBrake(fd))
    {
        UpdateBrakeStatus(fd, FALSE, pRunPara);
        faFdInfo[fd].BrakeRatioTime = 0;
        faFdBrakeJudge_Reset(sm, fd);
        return FALSE;
    }

    /* 计算二次谐波 */
    adCalculateSecHar(fd);

    /* ------ Step 2: 检测过流触发 ------ */
    BOOL ocDetected = SecondHarBrake_faFdStateIsOC(fd);

    /* ------ Step 3: 状态机转移 ------ */
    switch (sm->state)
    {
    case BRAKE_IDLE:
        if (ocDetected)
        {
            /* 过流触发 → 进入判断状态 */
            sm->state = BRAKE_JUDGING;
            sm->timeoutCount = BRAKE_JUDGE_TIMEOUT_MAX;
            faFdInfo[fd].BrakeRatioTime = pRunPara->BrakeRatioTime;
        }
        brakeResult = FALSE;
        break;

    case BRAKE_JUDGING:
        if (ocDetected)
        {
            /* 持续过流：刷新超时计数 */
            sm->timeoutCount = BRAKE_JUDGE_TIMEOUT_MAX;

            /* 判断谐波制动条件 */
            if (faFdInfo[fd].BrakeRatioTime > 0
                && CheckSecondHarmonicBrake(fd, pRunPara))
            {
                /* 谐波满足 → 进入制动状态 */
                sm->state = BRAKE_ACTIVE;
                sm->debounceEnter = 0;
                sm->debounceExit = 0;
                UpdateBrakeStatus(fd, TRUE, pRunPara);
                brakeResult = TRUE;
            }
            else
            {
                /* 谐波不满足：继续判断 */
                brakeResult = TRUE; // 保持制动
            }
        }
        else
        {
            /* 过流消失：递减超时 */
            if (sm->timeoutCount > 0)
            {
                sm->timeoutCount--;
                if (sm->timeoutCount == 0)
                {
                    /* 超时 → 退出 */
                    sm->state = BRAKE_EXITING;
                    sm->brakeDone = TRUE;
                }
            }
            brakeResult = FALSE;
        }
        break;

    case BRAKE_ACTIVE:
        if (faFdInfo[fd].BrakeRatioTime > 0)
        {
            /* 谐波有效时间内 */
            if (CheckSecondHarmonicBrake(fd, pRunPara))
            {
                /* 谐波持续：保持制动 */
                sm->debounceExit = 0;
                brakeResult = TRUE;
            }
            else
            {
                /* 谐波消失：开始退出去抖 */
                sm->debounceExit++;
                if (sm->debounceExit > BRAKE_EXIT_DEBOUNCE_MAX)
                {
                    /* 去抖完成 → 退出 */
                    sm->state = BRAKE_EXITING;
                    sm->brakeDone = TRUE;
                    brakeResult = FALSE;
                }
                else
                {
                    brakeResult = TRUE; // 去抖期间保持制动
                }
            }
        }
        else
        {
            /* 制动超时 → 退出 */
            sm->state = BRAKE_EXITING;
            sm->brakeDone = TRUE;
            brakeResult = FALSE;
        }
        break;

    case BRAKE_EXITING:
        /* 退出清理 */
        sm->debounceEnter = 0;
        sm->debounceExit = 0;
        faFdInfo[fd].BrakeRatioTime = 0;
        UpdateBrakeStatus(fd, FALSE, pRunPara);
        sm->state = BRAKE_IDLE;
        sm->brakeDone = FALSE;
        brakeResult = FALSE;
        break;
    }

    /* ------ Step 4: 递减定时器 ------ */
    if (faFdInfo[fd].BrakeRatioTime > 0)
    {
        faFdInfo[fd].BrakeRatioTime--;
    }

    return brakeResult;
}

void faFdBrakeJudge_Reset(BrakeSM* sm, BYTE fd)
{
    sm->state = BRAKE_IDLE;
    sm->debounceEnter = 0;
    sm->debounceExit = 0;
    sm->timeoutCount = 0;
    sm->brakeDone = FALSE;
    faFdInfo[fd].BrakeRatioTime = 0;
}