/****************************************************************************
 Module
   HSMTemplate.c

 Revision
   2.0.1

 Description
   This is a template file for implementing state machines.

 Notes

 History
 When           Who     What/Why
 -------------- ---     --------
 02/07/13 21:00 jec      corrections to return variable (should have been
                         ReturnEvent, not CurrentEvent) and several EV_xxx
                         event names that were left over from the old version
 02/08/12 09:56 jec      revisions for the Events and Services Framework Gen2
 02/13/10 14:29 jec      revised Start and run to add new kind of entry function
                         to make implementing history entry cleaner
 02/13/10 12:29 jec      added NewEvent local variable to During function and
                         comments about using either it or Event as the return
 02/11/10 15:54 jec      more revised comments, removing last comment in during
                         function that belongs in the run function
 02/09/10 17:21 jec      updated comments about internal transitions on During funtion
 02/18/09 10:14 jec      removed redundant call to RunLowerlevelSM in EV_Entry
                         processing in During function
 02/20/07 21:37 jec      converted to use enumerated type for events & states
 02/13/05 19:38 jec      added support for self-transitions, reworked
                         to eliminate repeated transition code
 02/11/05 16:54 jec      converted to implment hierarchy explicitly
 02/25/03 10:32 jec      converted to take a passed event parameter
 02/18/99 10:19 jec      built template from MasterMachine.c
 02/14/99 10:34 jec      Began Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
// Basic includes for a program using the Events and Services Framework
#include "ES_Configure.h"
#include "ES_Framework.h"

/* include header files for this state machine as well as any machines at the
   next lower level in the hierarchy that are sub-machines to this machine
*/
#include "JoustingHSM.h"
#include "TopHSM.h"
#include "LanceMotorControl.h"
#include "BallShootService.h"

/*----------------------------- Module Defines ----------------------------*/
// define constants for the states for this machine
// and any other local defines

/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this machine, things like during
   functions, entry & exit functions.They should be functions relevant to the
   behavior of this state machine
*/

/*---------------------------- Module Variables ---------------------------*/
// everybody needs a state variable, you may need others as well
static JoustingState_t CurrentState;
static bool SuddenDeathJoust;

/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
 Function
    RunTemplateSM

 Parameters
   ES_Event: the event to process

 Returns
   ES_Event: an event to return

 Description
   add your description here
 Notes
   uses nested switch/case to implement the machine.
 Author
   J. Edward Carryer, 2/11/05, 10:45AM
****************************************************************************/
ES_Event RunJoustingHSM( ES_Event CurrentEvent )
{
   ES_Event ReturnEvent = CurrentEvent; // assume we are not consuming event
   ES_Event PostEvent;
   switch ( CurrentState )
   {
	   case FINDKNIGHT: 
			if( ((CurrentEvent.EventType == ES_FORWARD_KNIGHT) && (!SuddenDeathJoust))
				|| ( (CurrentEvent.EventType == ES_REAR_KNIGHT) && SuddenDeathJoust )) 
			{
				PostEvent.EventType = ES_SHOOT;
				PostBallShootService(PostEvent);
				PostEvent.EventType = ES_DEPLOY_LANCE;
				PostLanceService(PostEvent);
				CurrentState = HITKNIGHT;
			}
			break;
		case HITKNIGHT:
			if(CurrentEvent.EventType == ES_LANCE_RESPONSE) {
				PostEvent.EventType = ES_MOVE;
				PostMasterSM(PostEvent);
				CurrentState = FINISHEDJOUST;
			}
			break;
	}
    return(ReturnEvent);
}
/****************************************************************************
 Function
     StartTemplateSM

 Parameters
     None

 Returns
     None

 Description
     Does any required initialization for this state machine
 Notes

 Author
     J. Edward Carryer, 2/18/99, 10:38AM
****************************************************************************/
void StartJoustingHSM ( ES_Event CurrentEvent )
{
   // local variable to get debugger to display the value of CurrentEvent
   ES_Event LocalEvent = CurrentEvent;
   // to implement entry to a history state or directly to a substate
   // you can modify the initialization of the CurrentState variable
   // otherwise just start in the entry state every time the state machine
   // is started
   if(CurrentEvent.EventParam == 0) {
		SuddenDeathJoust = true;	
	} else {
		SuddenDeathJoust = false;
	}
   if ( ES_ENTRY_HISTORY != CurrentEvent.EventType )
   {
        CurrentState = FINDKNIGHT;
   }
   // call the entry function (if any) for the ENTRY_STATE
   RunJoustingHSM(CurrentEvent);
}

/****************************************************************************
 Function
     QueryTemplateSM

 Parameters
     None

 Returns
     TemplateState_t The current state of the Template state machine

 Description
     returns the current state of the Template state machine
 Notes

 Author
     J. Edward Carryer, 2/11/05, 10:38AM
****************************************************************************/
JoustingState_t QueryJoustingHSM ( void )
{
   return(CurrentState);
}

/***************************************************************************
 private functions
 ***************************************************************************/