/****************************************************************************
 Module
  T_Searching.c

 Description
   This is a sub state machine (3rd level) called Searching within the 
   NormalOp state machine within the Mining state machine in the Master module 
   for ME 218B project for Team 5. Implements a hierarchical 
   state machine under the Gen2 Events and Services Framework.

 Notes


 Private Definitions
   STATE_ONE
   STATE_TWO
   SEARCH_TIME
   SEE_FREQ_TIME
   SERVO_TIME
   COAST_TIME
   DELAY_TIME
   FORWARD
   REVERSE
   CurrentState

 Private Functions
   DuringRotatingS
   DuringDelayS
   DuringDrivingS
   DuringCoastingS
   DuringClosingGateS

ES_Event_t RunSearchingSM(ES_Event_t CurrentEvent) --------------------------
  // set MakeTransition to false
  // set NextState to CurrentState
  
  // based on our CurrentState:
    // if our CurrentState is RotatingS
      // call the During function of RotatingS - DuringRotatingS
        // process any events
        // if a FREQ_DETECTED event occurs
          // set NextState to DelayS
          // Start SERVO_TIMER
          // set MakeTransition to true
        // if an ES_TIMEOUT event occurs with SEARCH_TIMER parameter
          // set MakeTransition to true
          // send CurrentEvent 1 level up to NormalOp
    
    // if our CurrentState is DelayS
      // call the During function of DelayS - DuringDelayS
        // process any events
        // if an ES_TIMEOUT event occurs with SERVO_TIMER parameter
          // set MakeTransition to true
          // consume this event

    // if our CurrentState is DrivingS
      // call the During function of DrivingS - DuringDrivingS
        // process any events
        // if an ES_TIMEOUT event occurs with SEE_FREQ_TIMER parameter
          // set NextState to RotatingS
          // set MakeTransition to true
        // if a BEAM_BREAK event occurs
          // set MakeTransition to true
          // start SERVO_TIMER
          // set NextState to CoastingS

    // if our CurrentState is CoastingS
      // call the During function of CoastingS - DuringCoastingS
        // process any events
        // if an ES_TIMEOUT event occurs with SERVO_TIMER parameter
          // set MakeTransition to true
          // set NextState to ClosingGateS

    // if our CurrentState is ClosingGateS
      // call the During function of ClosingGateS - DuringClosingGateS
        // process any events
        // if an ES_TIMEOUT event occurs with SERVO_TIMER parameter
          // set MakeTransition to true

  // if MakeTransition is true
   // execute exit function for current state
   // set CurrentState to NextState
   // execute entry function for next state
   // return ReturnEvent

void StartSearchingSM (ES_Event_t CurrentEvent) ----------------------------
  // set CurrentState to RotatingS
  // call RunSearchingSM with the entry event

SearchingState QuerySearchingSM (void) -------------------------------------
  // return CurrentState

static ES_Event_t DuringRotatingS(ES_Event_t Event) ------------------------
  // process ES_ENTRY and ES_ENTRY_HISTORY events
    // start rotating left
    // start SEARCH_TIMER

static ES_Event_t DuringDelayS(ES_Event_t Event) ---------------------------
  // process ES_EXIT events
    // stop rotating

static ES_Event_t DuringDrivingS(ES_Event_t Event) -------------------------
  // process ES_ENTRY and ES_ENTRY_HISTORY events
    // drive forward

static ES_Event_t DuringCoastingS(ES_Event_t Event) -------------------------
  // process ES_EXIT events
    // stop driving

static ES_Event_t DuringClosingGateS(ES_Event_t Event) ----------------------
  // process ES_ENTRY events
    // close servo gate
    // start SERVO_TIMER

bool EventCheckPeriod(void) -------------------------------------------------
  // get current period
  // check if period is within 10% of target period
    // post FREQ_DETECTED event to Master SM
    // start SEE_FREQ_TIMER