#include "pub.h"
#include "ctime"

#define  STOP_ANGLE  -0.65f




class  SingleFootAction {

public:

	SingleFootAction(int foot_type) : can_report_motion(0), pause_signal(0), enter_signal(0), 
		direction_signal(-1), last_zupt(1), left_or_right(foot_type), interation_state(-1),
		last_x(0), last_y(0), last_z(0), big_pitch_count(0), can_report_enter_signal(0), last_enter_signal(0),
		enter_signal_cooling(0)
	{};
	void can_listen_direction_signal(int rssi);
	//void pause_signal_listen(float pitch);
	int direction_signal_listen(int x, int y, int zupt, int rssi);
	//void set_motion_signal(int zupt);

	//获取垫脚的以及暂停的信号
	int enter_signal_listen(float* acc, float pitch);

	int can_listen_enter_signal(float* acc, float pitch);

	FootActionState get_interation_state();

	void run(uint32_t _time, int x, int y, int z, int zupt, int rssi, float pitch, float* acc);

	//新的脚步命令
	int direction_signal_listen_new(uint32_t _time, int x, int y, int zupt, int rssi, float pitch);

	void reset_interation_state();

	int enter_signal_listen_new(uint32_t _time, float* acc, float pitch, int zupt_trigger);

private:
	int pause_signal_count;
	int can_report_motion;
	int pause_signal;
	int enter_signal;

	int direction_signal;

	int last_zupt;
	int left_or_right;

	int interation_state;

	int last_x;
	
	int last_y;

	int last_z;

	float acc_x_buff[10];
	float big_pitch_count;

	int shake_tag = 0;

	int station_count = 0;

	float acc_x_max = 0;
	float acc_x_min = 0;
	

	int can_report_enter_signal;

	int last_enter_signal;

	int enter_signal_cooling;

	int on_floor_count = 0;
	int has_reset_signal = 0;

	int cmd_stage = 0;

	clock_t time_s = clock();

	FootActionState footActionState = {0, 0 , 0};
};