Here is how could work:

When combat starts, every actor in the combat can move freely and take actions (not waiting for turns).
But, what was one TURN before now can be one ROUND.
In this one round, player can do everything based on how many action points he has.
When he runs out of action points, character starts his idle mode animation and waits for next round.

And that would be the true for every enemy AI as well. Combat will be much more dynamic,

Player can pause the gameplay to plan for other characters what to do.