#include "PublicSDKMotion.h"

class FingerGuessing : public PublicSDKMotion
{
public:
	FingerGuessing();

	void setData(deque<shoes_data_cell>& shoes_data_vector, int time_stamp, float pos_x, float pos_y, float pos_z, float heading, float pitch, float roll, int zupt, int rssi);

	void calGlobalPos(deque<shoes_data_cell>& shoes_data_vector, deque<shoes_data_cell>& step_data_vector,
		float* global_pos, int LEFT_OR_RIGHT);

	void ProcessResult(int zupt, int& zupt_count, int& has_init, float heading,
		float& rotate_heading, float* global_pos, deque<shoes_data_cell>& step_data_vector,
		deque<globalPos_struct>& global_pos_vector, int& cmd_status, int LEFT_OR_RIGHT);

	virtual void Process(int time_stamp, int* right_pos, int* right_att, int* right_acc, int right_zupt, int right_front_press, int right_back_press,
		int* left_pos, int* left_att, int* left_acc, int left_zupt, int left_front_press, int left_back_press,
		int jump, int down, int rssi);


	virtual void getResult(int* dec);

	virtual float getGamePos(int left_or_right, int index);

private:

	deque<shoes_data_cell> left_shoes_data_vector;
	deque<shoes_data_cell> right_shoes_data_vector;

	deque<globalPos_struct> right_global_pos_vector;
	deque<globalPos_struct> left_global_pos_vector;

	float left_step_heading;
	float right_step_heading;

	float left_global_pos[3];
	float right_global_pos[3];

	float left_cmd_global_pos[3];
	float right_cmd_global_pos[3];

	deque<shoes_data_cell> left_step_data_vector;
	deque<shoes_data_cell> right_step_data_vector;

	float left_step_pos[3];
	float right_step_pos[3];

	int jump_count;
	int down_count;

	int last_down;
	int last_jump;

	int down_wait_after_jump;

	int result[4];

	int last_left_zupt;

	int last_right_zupt;

	float left_heading;
	float right_heading;

	int left_foot_has_init;
	int right_foot_has_init;

	int left_zupt_count;
	int right_zupt_count;

	int right_cmd_status;
	int left_cmd_status;

	int last_right_cmd_status;
	int last_left_cmd_status;

	int right_cmd_cur_status;
	int left_cmd_cur_status;

	int right_cmd_wait_time;
	int left_cmd_wait_time;

	int max_acc_unzupt_left[3];
	int min_acc_unzupt_left[3];

	int max_acc_unzupt_right[3];
	int min_acc_unzupt_right[3];

	int rssi_buff[5];

	const int rssi_threshold = 32;

};