#pragma once
#include "IMotionModel.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	const int TOMO_HEIGHT_SLICE_MAX = 256;

	enum
	{
		DET_HIGHT_NORMAL,
		DET_HIGHT_TOOHIGH,
		DET_HIGHT_TOOLOW,
	};

	class TomoMotionStageArgs;
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;
	class IExposureController;
	class IOutputController;

	class TomoMotionModel : public IMotionModel
	{
	public:
		TomoMotionModel();
		~TomoMotionModel();
	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 &stageName);
		void MotionStageClearParams();
		void MotionStageCalculateParams();
		void MotionStageSetTomoMotionSlice();
		void MotionStageMovetoEndPos();
		void MotionStageMovetoStartPos();
		void MotionStageErrorStop();
		void MotionStageErrorRecover();
		void MotionStageCenterAdjust();
		void AlignTubeHeightToDetector();
		void RotateTubeToHorizontal();
		void StopMotion();
		void MoveTubeHeightToTomoStartPosiotn();
		void RotateTubeAngleToTomoStartPostion();
		BOOL GetTomoRotateDirection();
		int  JudgeDirectionInTubeHeightAxis(float current,float target);
		int  JudgeDirectionInTubeAngleAxis(float current,float target);
		void MoveTubeHeight(int direction,float offset,float spd = 0.0f);
		void RotateTubeAngle(int direction, float offset);
		void UpdateDigitalTwinTomoSliceParams();
		void FixHeightStartPosition(float speed);
		void OnMotionStageMove2SID(string ws);
		int  JudgeDirectionInTubeHorizontalAxis(float current, float target);
		void MoveTubeHorizontal(int direction, float offset, float spd = 0.0f);
		void DoMotionStageSetTomoMotionSlice(ISensorEncoderController* pEncoder, string encoderControllerName);

		void DoMotionStageMovetoEndPosHeight();
		void DoMotionStageMovetoEndPosHorizontal();
		void DoMotionStageMovetoStartPosHeight();
		void DoMotionStageMovetoStartPosHorizontal();
		void MoveTubeHorizontalToTomoStartPosiotn();
		int  IsTomoMotionDetectorPosCorrect(float fDetectorCurPos, string scanangle);
	private:
		std::string m_StageName;
		TomoMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		IMachineryManager *m_machineryManager;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;
		IExposureController *m_exposure;

		ITubeHeightController* m_motorTubeHorizontal;
		ISensorADController* m_adTubeHorizontal;
		ISensorEncoderController* m_encoderTubeHorizontal;
		IOutputController* m_tubeLineMotionSwitch;

		float *m_heightSlices;
		int *m_anglePeriods;
		int *m_angleSteps;
		float m_warmAngle;
		float m_anglePerSlice;
		int m_angleSliceCount;
		int m_heightSliceCount;
		float m_heightStartPosition;
		float m_angleStartPosition;
		float m_fps;

		ResDataObject m_MachineryParams;
		ResDataObject m_ModelParams;
		ResDataObject m_TechnicalParams;
		std::vector<int> m_FeedbackTubeHeightEncoders;
		std::vector<int> m_FeedbackTubeAngleEncoders;
	};
}