#ifndef _TASK_SCHEDULER_H
#define _TASK_SCHEDULER_H
#include "stdint.h"

#ifndef TASK_MAX_POINT
#define TASK_MAX_POINT 64
#endif

#ifndef TASK_MAX_TRAJECTORY
#define TASK_MAX_TRAJECTORY 2
#endif

typedef struct
{
    uint8_t x;
    uint8_t y;
    uint8_t z;
    uint8_t action;
}point_t;

enum
{
    TASK_ACT_NULL = 0x00,
    TASK_ACT_PICKUP = 0x01,	            //托盘取货
    TASK_ACT_RELEASE = 0x02,	        //托盘放货
    TASK_ACT_OPEN_CHARGE = 0x03,	    //开始充电
    TASK_ACT_CLOSE_CHARGE = 0x04,   	//关闭充电
    TASK_ACT_STEER_RAMP = 0x05,	        //换向到坡道
    TASK_ACT_TUNNEL = 0x06,	            //换向到巷道
    TASK_ACT_PALLET_CAL_LIFT = 0x09,	//托盘校准+托盘顶升
    TASK_ACT_ERROR = 0x0a,
};

enum
{
    TASK_STATUS_NONE,	/* 无任务 */
    TASK_STATUS_INIT,	/* 任务待命 */
    TASK_STATUS_EXE,	/* 任务执行中 */
    TASK_STATUS_PAUSE,	/* 任务暂停 */
    TASK_STATUS_DONE,	/* 任务完成 */
};

int task_add_trajectory(uint8_t id, uint8_t cnt, point_t *trajectory);
int task_set(uint8_t id, uint8_t target_id);
int task_get(point_t cur_point, point_t *trajectory);
void task_set_status(uint8_t status, point_t cur_point);
uint8_t task_get_status(void);
uint8_t task_get_seg(void);
uint32_t task_get_target(void);
int task_cancel(int force);

#endif /* _TASK_SCHEDULER_H */