package com.iflytop.sgs.hardware.service;

import com.iflytop.sgs.common.service.GDDeviceStatusService;
import com.iflytop.sgs.hardware.drivers.DIDriver.InputDetectDriver;
import com.iflytop.sgs.hardware.drivers.HeaterRodDriver;
import com.iflytop.sgs.hardware.drivers.LeisaiServoDriver;
import com.iflytop.sgs.hardware.drivers.MiniServoDriver.MiniServoDriver;
import com.iflytop.sgs.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
import com.iflytop.sgs.hardware.exception.HardwareException;
import com.iflytop.sgs.hardware.type.IO.InputIOMId;
import com.iflytop.sgs.hardware.type.Servo.LeisaiServoMId;
import com.iflytop.sgs.hardware.type.StepMotor.StepMotorMId;
import com.iflytop.sgs.hardware.type.driver.HeaterRodSlavedId;
import com.iflytop.sgs.hardware.utils.Math.StepMotorConverter;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

@Slf4j
@Component
@RequiredArgsConstructor
public class GDDeviceStatusServiceImpl implements GDDeviceStatusService {
    private final InputDetectDriver inputDetectDriver;
    private final HeaterRodDriver heaterRodDriver;
    private final StepMotorCtrlDriver stepMotorCtrlDriver;
    private final MiniServoDriver miniServoDriver;
    private final LeisaiServoDriver leisaiServoDriver;

    /**
     * 获取步进电机的原点状态
     * @param stepMotorMId
     * @return true 在原点 false 不在原点
     */
    public Boolean stepMotorIsOrigin(StepMotorMId stepMotorMId) throws HardwareException {
        return stepMotorCtrlDriver.stepMotorReadIoState(stepMotorMId, 0);
    }

    /**
     * 获取XY 伺服的原点状态
     * @param mid
     * @return
     * @throws HardwareException
     */
    public Boolean getXYServoIsOrigin(LeisaiServoMId mid) throws HardwareException
    {
        return leisaiServoDriver.readIoState(mid, 0);
    }

    /**
     * 获取传感器信号
     * @param inputIOMIdStr
     * @return
     * @throws HardwareException
     */
    public Boolean getInputState(String inputIOMIdStr) throws HardwareException {
        InputIOMId inputIOMId = InputIOMId.valueOf(inputIOMIdStr);
        return inputDetectDriver.getIOState(inputIOMId);
    }

    /**
     * 获取加热棒温度
     * @param heaterRodSlavedIdStr
     * @return
     * @throws Exception
     */
    public Double getHeaterRodTemperature(String heaterRodSlavedIdStr) throws Exception {
        HeaterRodSlavedId heaterRodSlavedId=HeaterRodSlavedId.valueOf(heaterRodSlavedIdStr);
        return heaterRodDriver.getTemperature(heaterRodSlavedId);
    }

    /**
     * 获取电机位置
     * @param stepMotorMIdStr
     * @return
     * @throws HardwareException
     */
    public Double getStepMotorPostion(String stepMotorMIdStr) throws HardwareException {
        StepMotorMId stepMotorMId=StepMotorMId.valueOf(stepMotorMIdStr);
        Integer motorPosition = stepMotorCtrlDriver.stepMotorReadPos(stepMotorMId);
        Double realPosition = StepMotorConverter.toUserPosition(motorPosition);
        return realPosition;
    }

    /**
     * 获取伺服类电机位置
     * @param mid
     * @return
     * @throws HardwareException
     */
    public Double getXYServoPosition(LeisaiServoMId mid) throws HardwareException {
        int servoPosition = leisaiServoDriver.readPosition(mid);
        return StepMotorConverter.toUserPosition(servoPosition);
    }

}