#include "stdafx.h"
#include "SensorEncoderController.h"
#include "ICommunicateEntity.h"


using namespace DIOS::Dev::Detail::MachineryECOM;

SensorEncoderController::SensorEncoderController() 
:m_communicate(nullptr),
m_id_axis_a(0),
m_id_axis_b(0),
m_id_axis_z(0)
{
}


SensorEncoderController::~SensorEncoderController()
{
}

std::string SensorEncoderController::CLASSID()
{
	return "78B76591-E8B3-4058-9353-D46D4700C6F5";
}

void SensorEncoderController::Initialize(const std::string &name)
{
	SetName(name);
}

void SensorEncoderController::OnCommunicationEstablished(ICommunicateEntity *communicate)
{
	m_communicate = communicate;
}

int SensorEncoderController::GetCurrentEncoderValue()
{
	if (m_communicateInterfaceID < 0 || !m_communicate)
	{
		return INVALID_ENCODER_VALUE;
	}
	
	int retry = 0;
	SEC_PARAM param;
	while (retry++ < 5)
	{
		if (m_communicate->SEC_Ctrl(OP_READ, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_NONE, param) >= 0)
		{
			if (param.encoder_value.encoder_value_int != 0)
			{
				return param.encoder_value.encoder_value_int;
			}		
		}
	}

	return INVALID_ENCODER_VALUE;
}

void SensorEncoderController::LoadAxisInterfaceID(int id_axis_a, int id_axis_b, int id_axis_z)
{
	m_id_axis_a = id_axis_a;
	m_id_axis_b = id_axis_b;
	m_id_axis_z = id_axis_z;
}

void SensorEncoderController::BindABAxis()
{
	if (!m_communicate)
	{
		return;
	}

	SEC_PARAM param;
	param.a_axis_bind_id = (unsigned char)m_id_axis_a;
	param.b_axis_bind_id = (unsigned char)m_id_axis_b;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_DELTE, param);
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_A_B_AXIS_BIND, param);
}

void SensorEncoderController::BindZAxis()
{
	SEC_PARAM param;
	param.use_ad_assistent = 0;
	param.z_axis_bind_id = (unsigned char)m_id_axis_z;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_Z_AXIS_BIND, param);
}

void SensorEncoderController::UnBindZAxis()
{
	SEC_PARAM param;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_Z_AXIS_BIND_CANCEL, param);
}

void SensorEncoderController::ActiveAutoNotifyWhenZClear(bool active)
{
	SEC_PARAM param;
	param.z_axis_clear_notify_switch = active ? SEC_Z_NOTIFY_SW_ON : SEC_Z_NOTIFY_SW_OFF;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_Z_AXIS_CLEAR_NOTIFY, param);
}

void SensorEncoderController::ActiveExposureTrigger(int triggerID)
{
	SEC_PARAM param;
	param.associate_id = (unsigned char)triggerID;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH1_SET, param);
}

void SensorEncoderController::ActiveRotateTrigger(int triggerID)
{
	SEC_PARAM param;
	param.associate_id = (unsigned char)triggerID;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH2_SET, param);
}

void SensorEncoderController::SetExposureTrigger(int encoderValue)
{
	SEC_PARAM param;
	param.associate_value.associate_value_int = encoderValue;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH1_TABLE_SET, param);
}

void SensorEncoderController::SetRotateTrigger(int encoderValue)
{
	SEC_PARAM param;
	param.associate_value.associate_value_int = encoderValue;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH2_TABLE_SET, param);
}

void SensorEncoderController::ClearTrigger()
{
	SEC_PARAM param;
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH1_TABLE_CLEAR, param);
	m_communicate->SEC_Ctrl(OP_SET, (SEC_ID)m_communicateInterfaceID, SEC_ATTR_ASSOCIATE_CH2_TABLE_CLEAR, param);
}