/****************************************************************************
 Module
   Gameplay_GameTasksSM.c

 Revision
   2.0.1

 Description
   This is a sub state machine (2nd level) called GameTasks within the
   Gameplay module for ME 218B project for Team 3.  Implements a hierarchical
   state machine under the Gen2 Events and Services Framework.

 Notes

 Private Definitions
   ENTRY_STATE CollectBalls
   CurrentState
   BeaconRearFreq



ES_Event_t RunGameTasksSM(ES_Event_t CurrentEvent) --------------------------
  // default to normal entry to new state

  // based on our current state:
    // if current state is CollectBalls
      // execute During function for CollectBalls state
      // process any events
        // based on the event type:
          // if our robot has reached max recycle capacity
            // we want to move to DumpRecycling state
            // mark that we are taking a transition
            // consume this event for the upper state machines
          // if our robot has reached max trash capacity
            // we want to move to DumpTrash state
            // mark that we are taking a transition
            // consume this event for the upper state machines
          // if there is only enough time left to dump
            // if we have any recycling balls, then we want to do that first.
            // we will have to query the BallSortingService if we have
            // recycling balls -- if so:
              // we want to move to DumpRecycling state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // otherwise, if we have trash balls, then we will want to dump
            // trash.  we will have to query the BallSortingService if we
            // have trash balls -- if so:
              // we want to move to DumpTrash state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // otherwise, even if there is little time left, we don't have to
            // dump because our robot is empty; we will stay in CollectBalls

    // If current state is DumpRecycling
      // Execute During function for DumpRecycling
      // process any events
        // based on the event type:
          // if the recycling center has changed
            // we want to exit and re-enter our DumpRecycling state
            // mark that we are taking a transition
            // consume this event for the upper state machines
          // if we emptied our recycling
            // if we still have no trash balls, then we don't want to go to
            // DumpTrash and would instead CollectBalls.  Ask
            // BallSortingService -- if we have no trash balls:
              // we want to move to CollectBalls state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // if we still have a good bit of time left in the game, then we
            // want to go back to collecting balls, regardless of if we have
            // trash balls or not.  Ask GameControl service -- if still time:
              // we want to move to CollectBalls state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // the last case is that we have little time left in the game and
            // we have trash balls to dump.  In this case, we want to go to
            // DumpTrash.
              // we want to move to DumpTrash state
              // mark that we are taking a transition
              // consume this event for the upper state machines

    // If current state is DumpTrash
      // Execute During function for DumpTrash
      // process any events
        // based on the event type:
          // if we emptied our trash
            // if we still have no recycling balls, then we don't want to go
            // to DumpRecycling and would instead CollectBalls.  Ask
            // BallSortingService -- if we have no recycling balls:
              // we want to move to CollectBalls state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // if we still have a good bit of time left in the game, then we
            // want to go back to collecting balls, regardless of if we have
            // recycling balls or not.  Ask GameControl service if time:
              // we want to move to CollectBalls state
              // mark that we are taking a transition
              // consume this event for the upper state machines
            // the last case is that we have little time left in the game and
            // we have recycling balls to dump.  In this case, we want to go
            // to DumpRecycling.
              // we want to move to DumpRecycling state
              // mark that we are taking a transition
              // consume this event for the upper state machines

  // if we are making a state transition
    // Execute exit function for current state
    // Modify state variable
    // Execute entry function for new state (this defaults to ES_ENTRY)


void StartGameTasksSM(ES_Event_t 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
  // call the entry function (if any) for the ENTRY_STATE


GameTasksState_t QueryGameTasksSM(void) -------------------------------------
  // return CurrentState variable


uint16_t QueryBeaconRearFreq(void) ------------------------------------------
  // return BeaconRearFreq;


void SetBeaconRearFreq(uint16_t NewFreq) ------------------------------------
  // set BeaconRearFreq to passed in parameter


static ES_Event_t DuringCollectBalls(ES_Event_t Event) ----------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // post MOTOR_COMMAND with EventParam FORWARD
    // now start the lower level machine that runs in this state
  // process ES_EXIT event
    // on exit, give the lower levels a chance to clean up first
    // no tasks to do for exit from CollectBalls
  // process other events
    // run any lower level state machine
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.


static ES_Event_t DuringDumpRecycling(ES_Event_t Event) ---------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // start turning clockwise
    // set BeaconRearFreq to north landfill beacon frequency
    // enable interrupts for rear beacon sensor
    // now start the lower level machine that runs in this state
  // process ES_EXIT event
    // on exit, give the lower levels a chance to clean up first
    // no tasks to do for exit from DumpRecycling
  // process other events
    // run any lower level state machine
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.
  return ReturnEvent;


static ES_Event_t DuringDumpTrash(ES_Event_t Event) -------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // start turning clockwise
    // set BeaconRearFreq based on which team we are
      // if we are North, then we want to drive to the east recycling center
      // otherwise we want to drive to the west recycling center
    // enable interrupts for rear beacon sensor
    // now start the lower level machine that runs in this state
  // process ES_EXIT
    // on exit, give the lower levels a chance to clean up first
    // no tasks to do for exit from DumpTrash
  // process other events
    // run any lower level state machine
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.


/***************************************************************************/