#pragma once
#include "IMotionModel.h"

namespace DIOS::Dev::Detail::MachineryECOM
{
	class ResetMotionStageArgs;
	class ITubeAngleController;
	class ITubeHeightController;
	class ISensorADController;
	class ISensorEncoderController;
	class ILandmarkController;
	class IOutputController;

	class ResetMotionModel : public IMotionModel
	{
	public:
		ResetMotionModel();
		~ResetMotionModel();
	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 OnStageTubeAngleMoveToLandmark();
		void OnStageTubeHeightMoveToLandmark();
		void OnStageTubeAngleFindLandmark();
		void OnStageTubeHeightFindLandmark();
		void OnStageTubeAngleStopAtLandmark();
		void OnStageTubeHeightStopAtLandmark();
		void OnStageTubeAngleGoOutOfLowLandmark();
		void OnStageTubeAngleGoOutOfHighLandmark();
		void OnStageTubeHeightGoOutOfLowLandmark();
		void OnStageTubeHeightGoOutOfHighLandmark();
		void OnStageTubeAngleAttachZAxis();
		void OnStageTubeHeightAttachZAxis();
		void OnStageTubeAngleDetachZAxis();
		void OnStageTubeHeightDetachZAxis();
		void OnStageTubeAngleFindZAxis();
		void OnStageTubeHeightFindZAxis();
		void OnStageTubeAngleStopAtZAxis();
		void OnStageTubeHeightStopAtZxis();
		void OnStageTubeAngleFinishReset();
		void OnStageTubeHeightFinishReset();
		void OnStageStopMove();
		int JudgeTubeRotateLandmarkDirection();
		int JudgeTubeHeightLandmarkDirection();
		float GetTubeRotateResetPosition();
		int JudgeRotateDirection(float currentAngle, float targetAngle);
		int JudgeHeightDirection(float currentHeight,float targetHeight);
		int ComputeTubeAngleZToLandmarkRotateDirection();
		int ComputeTubeHeightZToLandmarkMoveDirection();
		BOOL IsTubeAngleAtResetLandmark();
		BOOL IsTubeHeightAtResetLandmark();

		void OnStageTubeHorizontalMoveToLandmark();
		void OnStageTubeHorizontalFindLandmark();
		void OnStageTubeHorizontalStopAtLandmark();
		void OnStageTubeHorizontalGoOutOfLeftLandmark();
		void OnStageTubeHorizontalGoOutOfRightLandmark();
		void OnStageTubeHorizontalAttachZAxis();
		void OnStageTubeHorizontalDetachZAxis();
		void OnStageTubeHorizontalFindZAxis();
		void OnStageTubeHorizontalStopAtZxis();
		void OnStageTubeHorizontalFinishReset();
		int JudgeTubeHorizontalLandmarkDirection();
		int JudgeHorizontalDirection(float currentHorizontalPos, float targetHorizontalPos);
		int ComputeTubeHorizontalZToLandmarkMoveDirection();
		BOOL IsTubeHorizontalAtResetLandmark();
		void MoveTubeHorizontal(int direction, int steps, int pwmperiod);
		void MoveTubeHeight(int direction, int steps, int pwmperiod);
		void MoveTubeAngle(float despos);
		void OnMotionStageMove2SID();
	private:
		std::string m_StageName;
		ResetMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		ITubeAngleController *m_motorTubeAngle;
		ITubeHeightController *m_motorTubeHeight;
		ISensorADController *m_adDetectorHeight;
		ISensorEncoderController *m_encoderTubeAngle;
		ISensorEncoderController *m_encoderTubeHeight;
		ILandmarkController *m_landmark;
		DWORD m_resetRotatePeriod;
		DWORD m_resetHeightPeriod;
		int m_tubeRotateLandmarkDirection;
		int m_tubeHeightLandmarkDirection;
		float m_tubeRotateResetAngle;
		int m_tubeHeightAxisPositiveDirection;
		int m_tubeRotateAxisPositiveDirection;
		float m_tubeHeightLowPositionofRest;

		int m_tubeHorizontalLandmarkDirection;
		int m_tubeHorizontalAxisPositiveDirection;
		DWORD m_resetHorizontalPeriod;

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