#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"

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

namespace iflytop {
using namespace std;
class IntelligentWindingRobotCtrl {
 public:
  typedef struct {
    /**
     * @brief 排废舵机
     */
    int32_t paifei_duoji_reset_pos;
    int32_t paifei_duoji_press_pos;
    int32_t paifei_duoji_press_torque;

    /**
     * @brief 绕线探测舵机
     */
    int32_t raoxiantance_duoji_reset_pos;
    int32_t raoxiantance_duoji_tance_zero_pos;

    /**
     * @brief 压线舵机
     */
    int32_t yaxian_duoji_reset_pos;
    int32_t yaxian_duoji_press_pos;
    int32_t yaxian_duoji_press_torque;
    int32_t yaxian_duoji_wait_for_press_pos;

    /**
     * @brief 线拉紧舵机
     */
    int32_t xianlajin_duoji_reset_pos;
    int32_t xianlajin_duoji_line_entry_pos;
    int32_t xianlajin_duoji_tight_line_pos;
    int32_t xianlajin_duoji_loose_line_pos;

    /**
     * @brief 线夹紧舵机
     */
    int32_t jiaxian_duoji_reset_pos;
    int32_t jiaxian_duoji_clamp_pos;
    int32_t jiaxian_duoji_clamp_torque;

    /**
     * @brief 机械臂夹线舵机
     */
    int32_t arm_jiaxian_duoji_reset_pos;
    int32_t arm_jiaxian_duoji_clamp_direction;
    int32_t arm_jiaxian_duoji_clamp_torque;

    /**
     * @brief 剪刀
     */
    int32_t scissors_reset_pos;
    int32_t scissors_cut_pos;

    /**
     * @brief 钩爪
     */
    int32_t arm_hook_claws_half_pos;
    int32_t arm_hook_claws_full_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;

    /**
     * @brief
     *
     *
     * 00
     *
     *
     *
     *                              XX
     */

    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;

  ZModuleDeviceManager* m_dm;
  ICmdParser*           m_cmdparse;
  config_t              cfg;

 private:
  int32_t device_reset();
  int32_t disable_all_motor();
  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_duoji_reset = true);  // 取弹夹
  int32_t xy_run_to_clip_pos_test(int32_t clip_index);
  int32_t xy_reset();

  int32_t zmove_to(int32_t pos);
  int32_t zreset();
  int32_t xymove_to(int32_t x, int32_t y);

 public:
  int32_t initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse);
  void    regcb();
  int32_t initialize_device();
  //   排废舵机
  int32_t paifei_duoji_moveto_reset();
  int32_t paifei_duoji_moveto_press();
  /**
   * @brief 绕线探测舵机
   */
  int32_t raoxiantance_duoji_move_to_reset();
  int32_t raoxiantance_duoji_move_to_get_thickness(int32_t* thickness);
  /**
   * @brief 压线舵机
   */
  int32_t yaxian_duoji_move_to_reset();
  int32_t yaxian_duoji_move_to_press_pos();
  int32_t yaxian_duoji_move_to_wait_for_press_pos();
  /**
   * @brief 线拉紧舵机
   */
  int32_t xianlajin_duoji_move_to_reset();           // 零位
  int32_t xianlajin_duoji_move_to_line_entry_pos();  // 入线位
  int32_t xianlajin_duoji_move_to_tight_line_pos();  // 拉线位置
  int32_t xianlajin_duoji_move_to_loose_line_pos();  // 放线位置
  /**
   * @brief 夹线舵机
   */
  int32_t jiaxian_duoji_move_to_reset_pos();
  int32_t jiaxian_duoji_move_to_clamp_pos();
  /**
   * @brief 剪刀
   */
  int32_t scissors_move_reset_pos();  // block
  int32_t scissors_cut();             // block
  /**
   * @brief 机械臂夹线舵机
   */
  int32_t arm_jiaxian_duoji_move_to_reset_pos();
  int32_t arm_jiaxian_duoji_move_to_clamp_pos();

  /**
   * @brief 机械臂钩爪
   */
  int32_t arm_hook_claws_reset();
  int32_t arm_hook_claws_move_to_half_pos();
  int32_t arm_hook_claws_move_to_full_pos();

  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);

  void wait_module_idle(int32_t moduleid);
};

}  // namespace iflytop