#pragma once
#include "IMotionModel.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	class RADMotionStageArgs;
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;
	class ITubeHorizontalController;
	class IOutputController;

	class RADMotionModel : public IMotionModel
	{
	public:
		RADMotionModel();
		~RADMotionModel();
	public:
		virtual void ChangeStage(const std::string &stageName) override;
		virtual std::string GetStageName() override;
		virtual IMotionStageArgs *GetStageArgs() override;
	public:
		virtual void Initialize(IMachineryManager *machineryManager, IPositionManager *coordinates) override;
		virtual void LoadMachineryParams(ResDataObject &params) override;
		virtual void LoadModelParams(ResDataObject &params) override;
		virtual void SetTechnicalParams(ResDataObject &params) override;
		virtual void OnFeedbackMotionParams(ResDataObject &params) override;
		virtual BOOL GetMotionParams(ResDataObject &params) override;
		virtual void SwitchScanningComponents(int nSwitch) override;
		virtual void SwitchWorkstation(string ws) override;
	private:
		void OnMotionStage(const std::string &name);
		void OnStageClearParams();
		void OnStageStopMove();
		void OnStageCenterAdjust();
		void OnMotionStageMoveTubeHeight();		
		void OnMotionStageMoveTubeHorizontal();
		void OnMotionStageMoveTubeRotation();
		void AlignTubeHeightToDetector();
		void RotateTubeToExposure();
		float GetExposureAngle();
		int  JudgeDirectionInTubeHeightAxis(float current, float target);
		int  JudgeDirectionInTubeAngleAxis(float current, float target);
		void MoveTubeHeight(int direction, float offset);
		void RotateTubeAngle(int direction, float offset);

		int  JudgeDirectionInTubeHorizontalAxis(float current, float target);
		void MoveTubeHorizontal(int direction, float offset);
		void OnMotionStageMove2SID(string ws);
	private:
		std::string m_StageName;
		RADMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;

		ResDataObject m_MachineryParams;
		ResDataObject m_technicalParams;

		//ITubeHorizontalController* m_motorTubeHorizontal;
		ITubeHeightController* m_motorTubeHorizontal;
		ISensorADController* m_adTubeHorizontal;
		ISensorEncoderController* m_encoderTubeHorizontal;

		IOutputController* m_tubeLineMotionSwitch;
	};
}