#include "stdafx.h"
#include "CArmDPCHandler.h"
#include "CommunicateEntityFactory.h"
#include "PacketDispatcherFactory.h"
#include "IPacketDispatcher.h"
#include "ICommunicateEntity.h"
#include "PositionManager.h"
#include "..\\LogicDeviceHandSwitch.h"
#include "..\\LogicDeviceCollimator.h"
#include "LogicDeviceMechCarm.h"
#include "LogicDeviceManager.h"
#include "ServoDriveManager.h"
#include "ServoDriveFactory.h"
#include "MechnicalComponentFactory.h"
#include "MotionModelManager.h"
#include "MotionModelFactory.h"
#include "DeviceHandlerManager.h"
#include "DeviceHandlerFactory.h"
#include "ExamHandlerManager.h"
#include "..\\ServoDriveNameDef.h"
#include "CArmWorkflowManager.h"
#include "CArmMachineryManager.h"
#include "CArmMachineryManager.h"
#include "CArmExamHandlerFactory.h"
#include "MechnicalMonitor.h"
#include "CarmImplPositionManager.h"
#include "..\\ExamHandlerNameDef.h"
#include "MotionModelNameDef.h"

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

CArmDPCHandler *CArmDPCHandler::m_instance = nullptr;

CArmDPCHandler::CArmDPCHandler()
{
}


CArmDPCHandler::~CArmDPCHandler()
{
}

CArmDPCHandler *CArmDPCHandler::Instance()
{
	if (m_instance == nullptr)
	{
		m_instance = new CArmDPCHandler();
	}

	return m_instance;
}

void CArmDPCHandler::OnDriverEntry(
	MachineryECOMDriver* dpc,
	ICommunicateEntity*& outcommunicate,
	IPacketDispatcher*& outdispatcher,
	bool& outstatus)
{
	outcommunicate = CommunicateEntityFactory::Instance()->CreateSingleton(COMMUNICATE_ENTITY_DIOSBOARD);
	outdispatcher = PacketDispatcherFactory::Instance()->CreateSingleton(GENERAL_DISPATCHER);
	if (outdispatcher)
	{
		outdispatcher->Initialize(CArmWorkflowManager::Instance());
	}

	if (!outcommunicate || !((ICommunicateEntity *)outcommunicate)->Initialize((IPacketDispatcher*)outdispatcher))
	{
		outstatus = false;
	}

	outstatus = true;
}

void CArmDPCHandler::OnSetDriverWorkPath(const char *workPath)
{
	std::vector<std::string> servoNamelist;
	servoNamelist.push_back(SERVO_DRIVE_TUBE_CIRCULAR);
	servoNamelist.push_back(SERVO_DRIVE_TUBE_SWING);

	//Add model list here.
	std::map<std::string, int> modelList;
	modelList[MOTION_MODLE_CBCT] = MOTION_MODEL_TYPE_CBCT;
	modelList[MOTION_MODLE_CARM_GENERAL] = MOTION_MODEL_TYPE_CARM_GENERAL;
	modelList[MOTION_MODLE_CARM_RESTE] = MOTION_MODEL_TYPE_CARM_RESET;

	//Add examhandler list here.
	std::map<std::string, int> examhandlerlist;
	examhandlerlist[CBCT_EXAMHANDLER] = EXAM_HANDLER_CBCT;
	examhandlerlist[CARM_GENERAL_EXAMHANDLER] = EXAM_HANDLER_CARM_COMMON;
	examhandlerlist[CARM_RESETHANDLER] = EXAM_HANDLER_CARM_RESET;

	ServoDriveManager::Instance()->Initialize(ServoDriveFactory::Instance(), servoNamelist);
	CArmMachineryManager::Instance()->Initialize(MechnicalComponentFactory::Instance());
	PositionManager::Instance()->Attach(new CarmImplPositionManager());
	PositionManager::Instance()->Initialize(CArmMachineryManager::Instance());
	MotionModelManager::Instance()->Initialize(
		MotionModelFactory::Instance(),
		CArmMachineryManager::Instance(),
		PositionManager::Instance(),
		modelList);
	MechnicalMonitor::Instance()->Initialize(PositionManager::Instance(), CARM_TUBE_SWING, CARM_TUBE_CIRCULAR);
	ExamHandlerManager::Instance()->Initialize(
		CArmExamHandlerFactory::Instance(), 
		PositionManager::Instance(),
		MotionModelManager::Instance(),
		examhandlerlist);
	DeviceHandlerManager::Instance()->Initialize(DeviceHandlerFactory::Instance());
}

void CArmDPCHandler::OnConnected(ICommunicateEntity *communicate)
{
	CArmMachineryManager::Instance()->OnCommunicationEstablished(communicate);
}

void CArmDPCHandler::OnLoadLogicDevices(MachineryECOMDriver* dpc)
{
	LogicDeviceManager::Instance()->LoadLogicDevice(LOGICDEVICE_MECH_CARM, new LogicDeviceMechCarm(dpc));
	LogicDeviceManager::Instance()->LoadLogicDevice(LOGICDEVICE_MECH_HSW, new LogicDeviceHandSwitch(dpc));
	LogicDeviceManager::Instance()->LoadLogicDevice(LOGICDEVICE_MECH_COLLIMATOR, new LogicDeviceCollimator(dpc));

	PositionManager::Instance()->SetNotifyLogicDevice(dpc);
}

void CArmDPCHandler::OnNitifyReadyStatus(MachineryECOMDriver* dpc)
{

}