#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 {
    /**
     * @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_up_pos;
    int32_t m16_xianlajin_line_entry_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_pos;
    int32_t z_axis_take_clip_pos;
    int32_t z_axis_winding_hight;

    /**
     * @brief XY平台
     */

    int32_t xy_platform_winding_pos_x;
    int32_t xy_platform_winding_pos_y;

    int32_t xy_platform_takeline_pos_x;
    int32_t xy_platform_takeline_pos_y;

    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;

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

 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 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();              // block
  int32_t m22_scissors_cut();                         // block
  int32_t m23_laxian_motor_move_to_reset_pos();       // block
  int32_t m23_laxian_motor_move_to_tight_line_pos();  // block

  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 step_take_bullet(int32_t bulletindex);

  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_run_to_clip_pos_test(int32_t clip_index);
  int32_t xy_reset();

  int32_t xymove_to(int32_t x, int32_t y);

  void    regcb();
  int32_t initialize_device();

  int32_t main_shaft_run();
  int32_t main_shaft_stop();

  /**
   * @brief XY平台
   */
  int32_t xy_platform_reset();
  /**
   * @brief Z轴
   */
  int32_t z_axis_reset();
  int32_t z_axis_move_to(int32_t pos);

  int32_t xy_move_to_zero();            // 移动到零位
  int32_t xy_take_clip(int32_t index);  // 取弹夹
  int32_t xy_take_line();               // 取线
  int32_t xy_take_back_clip();          // 放弹夹
  int32_t xy_remove_line();             // 移除线

  /**
   * @brief
   */
  int32_t start_winding();
  int32_t stop_winding();
  int32_t reset_and_check_device();

  int32_t setcfg(const char* cfgname, int32_t cfgvalue);
  int32_t dumpcfg();

  int32_t do_reset_device();
  int32_t do_winding(int32_t index);

  void processError(int32_t err);
};

}  // namespace iflytop