package com.iflytop.gd.hardware.controller;

import com.iflytop.gd.hardware.drivers.MiniServoDriver.DeviceServoId;
import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoRegIndex;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.service.ServoService;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

@Tag(name = "伺服电机控制")
@RestController
@RequestMapping("/api/servo")
@RequiredArgsConstructor
@Slf4j
public class ServoController {
    private final ServoService servoService;

    // 获取设备列表
    @PostMapping("get-device-list")
    @Operation(summary = "获取设备列表")
    public Map<String, String> getDeviceList() {
        Map<String, String> map = new HashMap<>();
        for(DeviceServoId id : DeviceServoId.values()) {
            map.put(id.name(), id.getDescription());
        }
        return map;
    }

    // 获取寄存器列表
    @PostMapping("get-reg-list")
    @Operation(summary = "获取寄存器列表")
    public List<String> getRegList() {
        List<String> list = new ArrayList<>();
        for(MiniServoRegIndex reg : MiniServoRegIndex.values()) {
            list.add(reg.name());
        }
        return list;
    }

    // 基础操作
    @PostMapping("/enable")
    @Operation(summary = "电源开启")
    public void enable(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.enable(deviceId, true);
    }

    @PostMapping("/disable")
    @Operation(summary = "电源关闭")
    public void disable(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.enable(deviceId, false);
    }

    @PostMapping("/stop")
    @Operation(summary = "停止")
    public void stop(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.stop(deviceId);
    }

    @PostMapping("/move-to")
    @Operation(summary = "移动(绝对)")
    public void moveTo(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
        servoService.moveTo(deviceId, pos);
    }

    @PostMapping("/rotate-forward")
    @Operation(summary = "正转")
    public void rotateForward(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.rotate(deviceId, 1);
    }

    @PostMapping("/rotate-backward")
    @Operation(summary = "反转")
    public void rotateBackward(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.rotate(deviceId, 0);
    }

    @PostMapping("/rotate-with-torque")
    @Operation(summary = "旋转(力矩)")
    public void rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
        servoService.rotateWithTorque(deviceId, pos);
    }

    @PostMapping("/move-to-zero")
    @Operation(summary = "回Home")
    public void moveToZero(@RequestParam DeviceServoId deviceId) throws HardwareException {
        servoService.moveToZero(deviceId);
    }

    // 寄存器操作
    @PostMapping("/limit-velocity")
    @Operation(summary = "设置限速")
    public void setLimitVelocity(
            @RequestParam DeviceServoId deviceId,
            @RequestParam Integer val) throws HardwareException {
        servoService.setLimitVelocity(deviceId, val);
    }

    @PostMapping("/limit-torque")
    @Operation(summary = "设置限力矩")
    public void setLimitTorque(
            @RequestParam DeviceServoId deviceId,
            @RequestParam Integer val) throws HardwareException {
        servoService.setLimitTorque(deviceId, val);
    }

    @PostMapping("/protective-torque")
    @Operation(summary = "设置保护力矩")
    public void setProtectiveTorque(
            @RequestParam DeviceServoId deviceId,
            @RequestParam Integer val) throws HardwareException {
        servoService.setProtectiveTorque(deviceId, val);
    }

    @PostMapping("/reg")
    @Operation(summary = "设置寄存器")
    public void setReg(
            @RequestParam DeviceServoId deviceId,
            @RequestParam MiniServoRegIndex reg,
            @RequestParam Integer val) throws HardwareException {
        servoService.setReg(deviceId, reg, val);
    }

    // 状态查询
    @GetMapping("/position")
    @Operation(summary = "读取位置")
    public Integer readPos(@RequestParam DeviceServoId deviceId) throws HardwareException {
        return servoService.readPos(deviceId);
    }

    @GetMapping("/regs")
    @Operation(summary = "获取所有寄存器")
    public Map<String, Integer> getAllReg(@RequestParam DeviceServoId deviceId) {
        return servoService.getAllReg(deviceId);
    }
}