#include "intelligent_winding_robot_ctrl.hpp"
#include <stdlib.h>
using namespace std;
using namespace iflytop;

#define TAG "IntelligentWindingRobotCtrl"

int32_t IntelligentWindingRobotCtrl::initialize_device() { return 0; }
//   排废舵机
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_press() { return 0; }
/**
 * @brief 绕线探测舵机
 */
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_get_thickness() { return 0; }
/**
 * @brief 压线舵机
 */
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_press_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_wait_for_press_pos() { return 0; }
/**
 * @brief 线拉紧舵机
 */
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_reset() { return 0; }           // 零位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_line_entry_pos() { return 0; }  // 入线位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_tight_line_pos() { return 0; }  // 拉线位置
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_loose_line_pos() { return 0; }  // 放线位置
/**
 * @brief 夹线舵机
 */
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_clamp_pos() { return 0; }
/**
 * @brief 剪刀
 */
int32_t IntelligentWindingRobotCtrl::scissors_move_reset_pos() { return 0; }  // block
int32_t IntelligentWindingRobotCtrl::scissors_cut() { return 0; }             // block
/**
 * @brief 机械臂夹线舵机
 */
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_clamp_pos() { return 0; }

/**
 * @brief 机械臂钩爪
 */
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_half_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_full_pos() { return 0; }
/**
 * @brief XY平台
 */
int32_t IntelligentWindingRobotCtrl::xy_platform_reset() { return 0; }
/**
 * @brief Z轴
 */
int32_t IntelligentWindingRobotCtrl::z_axis_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::z_axis_move_to(int32_t pos) { return 0; }

int32_t IntelligentWindingRobotCtrl::xy_reset() { return 0; }                   // 复位
int32_t IntelligentWindingRobotCtrl::xy_move_to_zero() { return 0; }            // 移动到零位
int32_t IntelligentWindingRobotCtrl::xy_take_clip(int32_t index) { return 0; }  // 取弹夹
int32_t IntelligentWindingRobotCtrl::xy_take_line() { return 0; }               // 取线
int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; }          // 放弹夹
int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; }             // 移除线
/**
 * @brief
 */
int32_t IntelligentWindingRobotCtrl::start_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::stop_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::reset_and_check_device() { return 0; }

int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalue) { return 0; }
int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }

int32_t IntelligentWindingRobotCtrl::initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse) {
  m_dm       = dm;
  m_cmdparse = cmdparse;

  cmdparse->regCMD("paifei_duoji_moveto_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_reset(); });
  cmdparse->regCMD("paifei_duoji_moveto_press", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_press(); });
  cmdparse->regCMD("raoxiantance_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_reset(); });
  cmdparse->regCMD("raoxiantance_duoji_move_to_get_thickness", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_get_thickness(); });
  cmdparse->regCMD("yaxian_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_reset(); });
  cmdparse->regCMD("yaxian_duoji_move_to_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_press_pos(); });
  cmdparse->regCMD("yaxian_duoji_move_to_wait_for_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_wait_for_press_pos(); });
  cmdparse->regCMD("xianlajin_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_reset(); });
  cmdparse->regCMD("xianlajin_duoji_move_to_line_entry_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_line_entry_pos(); });
  cmdparse->regCMD("xianlajin_duoji_move_to_tight_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_tight_line_pos(); });
  cmdparse->regCMD("xianlajin_duoji_move_to_loose_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_loose_line_pos(); });
  cmdparse->regCMD("jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_reset_pos(); });
  cmdparse->regCMD("jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_clamp_pos(); });
  cmdparse->regCMD("scissors_move_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_move_reset_pos(); });
  cmdparse->regCMD("scissors_cut", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_cut(); });
  cmdparse->regCMD("arm_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_reset_pos(); });
  cmdparse->regCMD("arm_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_clamp_pos(); });
  cmdparse->regCMD("arm_hook_claws_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_reset(); });
  cmdparse->regCMD("arm_hook_claws_move_to_half_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_half_pos(); });
  cmdparse->regCMD("arm_hook_claws_move_to_full_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_full_pos(); });
  cmdparse->regCMD("xy_platform_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_platform_reset(); });
  cmdparse->regCMD("z_axis_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_reset(); });
  cmdparse->regCMD("z_axis_move_to", "(int32_t pos)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_move_to(atoi(paraV[0])); });
  cmdparse->regCMD("xy_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_reset(); });
  cmdparse->regCMD("xy_move_to_zero", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_move_to_zero(); });
  cmdparse->regCMD("xy_take_clip", "(int32_t index)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_clip(atoi(paraV[0])); });
  cmdparse->regCMD("xy_take_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_line(); });
  cmdparse->regCMD("xy_take_back_clip", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_back_clip(); });
  cmdparse->regCMD("xy_remove_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_remove_line(); });
  cmdparse->regCMD("start_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return start_winding(); });
  cmdparse->regCMD("stop_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return stop_winding(); });
  cmdparse->regCMD("reset_and_check_device", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return reset_and_check_device(); });
  cmdparse->regCMD("setcfg", "(const char* cfgname, int32_t cfgvalue)", 2, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return setcfg(paraV[0], atoi(paraV[1])); });
  cmdparse->regCMD("dumpcfg", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return dumpcfg(); });

  return 0;
}