#pragma once
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"

//
#include "app_zmodule_device_manager.hpp"

#define ZMOTOR_ID       4
#define XYRobot_ID      3
#define XYRobot_HOOK_ID 21

namespace iflytop {
using namespace std;

class IntelligentWindingRobotCtrl {
 public:
  typedef struct {
    int32_t m2_zerooff;

    /**
     * @brief 机械臂夹线舵机
     */
    int32_t m11_arm_jiaxian_reset_pos;
    int32_t m11_arm_jiaxian_clamp_direction;
    int32_t m11_arm_jiaxian_clamp_torque;

    /**
     * @brief 线夹紧舵机
     */
    int32_t m12_jiaxian_reset_pos;
    int32_t m12_jiaxian_clamp_direction;
    int32_t m12_jiaxian_clamp_torque;

    /**
     * @brief 压线舵机
     */
    /**
     * 高度:
     *  1. 没有弹夹 1015
     *  2. 有弹夹   1055
     *  3. 弹夹有壳 1110
     *
     */
    int32_t m13_yaxian_forward_reset_pos;   // 压死待机位
    int32_t m13_yaxian_backward_reset_pos;  // 反向待机位
    int32_t m13_jiaxian_clamp_direction;    // 压线方向
    int32_t m13_jiaxian_clamp_torque;       // 压线扭矩

    /**
     * @brief 绕线探测舵机
     */
    int32_t m14_raoxiantance_reset_pos;
    int32_t m14_raoxiantance_tance_zero_pos;

    /**
     * @brief 排废舵机
     */
    int32_t m15_paifei_reset_pos;
    int32_t m15_paifei_press_direction;
    int32_t m15_paifei_press_torque;

    /**
     * @brief 线拉紧舵机
     */
    int32_t m16_xianlajin_reset_pos;
    int32_t m16_xianlajin_tight_line_pos;
    int32_t m16_xianlajin_winding_low_pos;
    int32_t m16_xianlajin_winding_high_pos;
    int32_t m16_xianlajin_line_entry_pos;
    int32_t m16_xianlajin_cook_line_end_ready_pos;
    int32_t m16_xianlajin_cook_line_end_high_pos;
    int32_t m16_xianlajin_cook_line_end_low_pos;

    /**
     * @brief 钩爪
     */
    int32_t m21_arm_hook_claws_half_pos;
    int32_t m21_arm_hook_claws_full_pos;
    /**
     * @brief 剪刀
     */
    // int32_t m22_scissors_cut_pos;
    /**
     * @brief 拉线
     */
    // int32_t m23_laxian_move_to_tight_pos;

    /**
     * @brief Z轴定位
     */
    int32_t z_axis_take_line_high;
    int32_t z_axis_take_clip_pos;
    int32_t z_axis_winding_hight;
    int32_t z_axis_transfer_line_high;
    int32_t z_axis_remove_line_high;

    // 2585
    // 3377

    int32_t z_axis_cook_bullet_pos;

    /**
     * @brief XY平台
     */
    int32_t xy_platform_cook_bullet_pos_x;  // 绕线加工
    int32_t xy_platform_cook_bullet_pos_y;  // 绕线加工

    int32_t xy_platform_remove_line_pos_x;  // 移线位
    int32_t xy_platform_remove_line_pos_y;  // 移线位

    int32_t xy_platform_takeline_pos_x;  // 取线位置
    int32_t xy_platform_takeline_pos_y;  // 取线位置

    int32_t xy_platform_enter_line_pos_x;  // 入线位
    int32_t xy_platform_enter_line_pos_y;  // 入线位

    //

    int32_t xy_platform_takeline_clip00_pos_x;  //
    int32_t xy_platform_takeline_clip00_pos_y;

    int32_t xy_platform_takeline_clipXX_pos_x;
    int32_t xy_platform_takeline_clipXX_pos_y;
    int32_t clip_line;
    int32_t clip_each_line_num;

  } config_t;

  APPDM*      m_dm;
  ICmdParser* m_cmdparse;
  config_t    cfg;

  ZThread m_work_thread;
  ZThread m_detect_thread;

  typedef enum {
    kBulletBulletHolderPos = 0,
    kCookPos,
  } take_bullet_pos_type_t;

  typedef enum {
    kTakeBullet = 0,
    kTakeBackBullet,
    kTakeBulletCase,
    kTakeBackBulletCase,
  } take_bullet_acktion_t;
  typedef enum {
    kTakeLine = 0,
    kReleaseLine,
    kKeepLine,
  } take_bullet_line_acktion_t;

  bool    m_iswinding        = false;
  int32_t m_nowwinding_index = 0;
  int32_t m_exception_val    = 0;

  typedef struct {
    int32_t index;
  } winding_event_t;

 public:
  int32_t initialize(APPDM* dm, ICmdParser* cmdparse);

 private:
  void start_probe_bullet_pos();
  void start_probe_bullet_pos_forward();

  void    stop_probe_bullet_pos();
  int32_t get_probe_bullet_pos();
  bool    is_hasbullet();

 public:
  void wait_module_idle(int32_t moduleid);
  void wait_modules_idle(void* mark, ...);

  int32_t m11_arm_jiaxian_move_to_reset_pos();
  int32_t m11_arm_jiaxian_move_to_clamp_pos();
  int32_t m12_jiaxian_move_to_open_pos();
  int32_t m12_jiaxian_move_to_clamp_pos();
  int32_t m13_yaxian_move_to_reset_forward();
  int32_t m13_yaxian_move_to_reset_backward();
  int32_t m13_yaxian_press_clip();
  int32_t m14_raoxiantance_move_to_reset();
  int32_t m15_paifei_moveto_reset();
  int32_t m15_paifei_moveto_press();

  int32_t m16_xianlajin_move_to_reset();
  int32_t m16_xianlajin_move_to_tight_line_pos();
  int32_t m16_xianlajin_move_to_winding_low_pos();
  int32_t m16_xianlajin_move_to_winding_up_pos();
  int32_t m16_xianlajin_move_to_line_entry_pos();
  int32_t m16_xianlajin_move_to_cook_lineend_high_pos();
  int32_t m16_xianlajin_move_to_cook_lineend_low_pos();
  int32_t m16_xianlajin_move_to_cook_lineend_ready_pos();


  int32_t m21_arm_hook_claws_reset();
  int32_t m21_arm_hook_claws_move_to_half_pos();
  int32_t m21_arm_hook_claws_move_to_full_pos();
  int32_t m22_scissors_move_reset_pos();              //
  int32_t m22_scissors_cut();                         //
  int32_t m23_laxian_motor_move_to_reset_pos();       //
  int32_t m23_laxian_motor_move_to_tight_line_pos();  //

  int32_t m4_zreset();
  int32_t m4_zmove_to(int32_t pos);

  int32_t device_reset();
  int32_t disable_all_module();
  int32_t enable_all_module();
  int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t     zpos,                      //
                                         take_bullet_acktion_t      take_bullet_acktion,       //
                                         take_bullet_line_acktion_t take_bullet_line_acktion,  //
                                         function<void()>           bottomoperation = nullptr);

  int32_t step_take_bullet(int32_t bulletindex);
  int32_t step_take_back_bullet(int32_t bulletindex);
  int32_t step_take_bullet_case(int32_t bulletindex);
  int32_t step_take_back_bullet_case(int32_t bulletindex);
  int32_t step_prepare_remove_line(int32_t bulletindex, bool& hasbullet);
  int32_t step_remove_line();
  int32_t step_winding_prepare();
  int32_t step_winding();
  // int32_t step_load_the_bullet_case();
  int32_t step_winding_lineend_prepare(int bulletindex);                                 // 绕线头准备
  int32_t step_winding_lineend();                                                        // 绕线头
  int32_t step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex);          // 绕线头


  int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y);                      // 取弹夹
  int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true);  // 取弹夹
  int32_t xy_reset();
  int32_t xymove_to(int32_t x, int32_t y);
  int32_t xymove_to_bullet_pos(int32_t bulletindex);
  void    regcb();
  int32_t initialize_device();
  /**
   * @brief
   */
  int32_t setcfg(const char* cfgname, int32_t cfgvalue);

 public:
  int32_t start_winding();
  int32_t stop_winding();

  int32_t dumpcfg();

  int32_t do_winding(int32_t index);
  int32_t get_winding_index() { return m_nowwinding_index; }
  bool    iswinding() { return m_iswinding; }
  int32_t get_exception_val() { return m_exception_val; }

  void processError(int32_t err);
};

}  // namespace iflytop