#include "stdafx.h"
#include "CArmGeneralModel.h"
#include "CArmGeneralMotionStageArgs.h"
#include "MotionStages.h"
#include "IMachineryManager.h"
#include "CArmComponentNameDef.h"
#include "ICircularController.h"
#include "ISwingController.h"
#include "ConfigurerMotion.h"
#include "ISensorEncoderController.h"
#include "IPositionManager.h"
#include "FluoroSwitchController.h"

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

CArmGeneralModel::CArmGeneralModel()
:m_StageName(""),
m_stageArgs(new CArmGeneralMotionStageArgs()),
m_coordinates(nullptr),
m_circular(nullptr),
m_swing(nullptr),
m_circularencoder(nullptr),
m_swingencoder(nullptr),
m_fluoroSwitch(nullptr),
m_tubeCircularMotionPeriod(150),
m_tubeSwingMotionPeriod(150)
{
}


CArmGeneralModel::~CArmGeneralModel()
{
}

void CArmGeneralModel::ChangeStage(const std::string &stageName)
{
	m_StageName = stageName;
	OnMotionStage(stageName);
}

std::string CArmGeneralModel::GetStageName()
{
	return m_StageName;
}

IMotionStageArgs *CArmGeneralModel::GetStageArgs()
{
	return m_stageArgs;
}

void CArmGeneralModel::Initialize(IMachineryManager *machineryManager, IPositionManager *coordinates)
{
	m_coordinates = coordinates;

	m_circular = (ICircularController*)machineryManager->Resove(CONTROLLER_CARM_TUBE_CIRCULAR);
	m_swing = (ISwingController*)machineryManager->Resove(CONTROLLER_CARM_TUBE_SWING);
	m_circularencoder = (ISensorEncoderController*)machineryManager->Resove(CONTROLLER_CARM_TUBE_CIRCULAR_ENCODER);
	m_swingencoder = (ISensorEncoderController*)machineryManager->Resove(CONTROLLER_CARM_TUBE_SWING_ENCODER);
	m_fluoroSwitch = (IOutputController*)(machineryManager->Resove(CONTROLLER_FLUOROSWITCH));
}

void CArmGeneralModel::LoadMachineryParams(ResDataObject &params)
{
	m_tubeSwingMotionPeriod = (DWORD)atoi((const char *)params["ResetRotatePeriod"]);
	m_tubeCircularMotionPeriod = (DWORD)atoi((const char *)params["ResetHeightPeriod"]);
}

void CArmGeneralModel::LoadModelParams(ResDataObject &params)
{

}

void CArmGeneralModel::SetTechnicalParams(ResDataObject &params)
{

}

void CArmGeneralModel::OnFeedbackMotionParams(ResDataObject &params)
{

}

BOOL CArmGeneralModel::GetMotionParams(ResDataObject &params)
{
	return FALSE;
}

void CArmGeneralModel::OnMotionStage(const std::string &name)
{
	if (name == CARM_GENERAL_MOVE_TUBE_CIRCULAR)
	{
		OnMotionStageMoveTubeCircular();
	}
	else if (name == CARM_GENERAL_MOVE_TUBE_SWING)
	{
		OnMotionStageMoveTubeSwing();
	}
	else if (name == CARM_GENERAL_GET_TUBE_CIRCULAR_ENCODER)
	{
		OnMotionStageGetTubeCircularEncoder();
	}
	else if (name == CARM_GENERAL_GET_TUBE_SWING_ENCODER)
	{
		OnMotionStageGetTubeSwingEncoder();
	}
	else if (name == CARM_GENERAL_ACTIVE_TUBE_SWING_Z_AXIS)
	{
		OnMotionStageActiveTubeSwingZAxis();
	}
	else if (name == CARM_GENERAL_CANCLE_TUBE_SWING_Z_AXIS)
	{
		OnMotionStageCancleTubeSwingZAxis();

	}
	else if (name == CARM_GENERAL_ACTIVE_TUBE_CIRCULAR_Z_AXIS)
	{
		OnMotionStageActiveTubeCircularZAxis();
	}
	else if (name == CARM_GENERAL_CANCLE_TUBE_CIRCULAR_Z_AXIS)
	{
		OnMotionStageCancleTubeCircularZAxis();
	}
	else if (name == CARM_GENERAL_STOP_MECH_MOVING)
	{
		OnMotionStageStopMechMoving();
	}
	else if (name == CARM_GENERAL_MOVE_TUBE_SWING_AS_PHYSICAL)
	{
		OnMotionStageMoveTubeSwingAsPhysical();
	}
	else if (name == CARM_GENERAL_MOVE_TUBE_CIRCULAR_AS_PHYSICAL)
	{
		OnMotionStageMoveTubeCircularAsPhysical();
	}
	else if (name == CARM_GENERAL_START_EXPOSURE)
	{
		OnStartExposure();
	}
	else if (name == CARM_GENERAL_STOP_EXPOSURE)
	{
		OnStopExposure();
	}
}

void CArmGeneralModel::OnMotionStageMoveTubeCircular()
{
	m_circular->Rotate(
		m_stageArgs->TubeCircularMoveDirection,
		m_stageArgs->TubeCircularMoveStep,
		m_tubeCircularMotionPeriod);
}

void CArmGeneralModel::OnMotionStageMoveTubeSwing()
{
	m_swing->Swing(
		m_stageArgs->TubeSwingDirection,
		m_stageArgs->TubeSwingStep,
		m_tubeSwingMotionPeriod);
}

void CArmGeneralModel::OnMotionStageGetTubeCircularEncoder()
{
	auto value = m_circularencoder->GetCurrentEncoderValue();
	m_stageArgs->TubeCircularEncoder = value;
}

void CArmGeneralModel::OnMotionStageGetTubeSwingEncoder()
{
	auto value = m_swingencoder->GetCurrentEncoderValue();
	m_stageArgs->TubeSwingEncoder = value;
}

void CArmGeneralModel::OnMotionStageActiveTubeSwingZAxis()
{
	m_swingencoder->BindZAxis();
	m_swingencoder->ActiveAutoNotifyWhenZClear(true);
}

void CArmGeneralModel::OnMotionStageCancleTubeSwingZAxis()
{
	m_swingencoder->UnBindZAxis();
	m_swingencoder->ActiveAutoNotifyWhenZClear(false);
}

void CArmGeneralModel::OnMotionStageActiveTubeCircularZAxis()
{
	m_circularencoder->BindZAxis();
	m_circularencoder->ActiveAutoNotifyWhenZClear(true);
}

void CArmGeneralModel::OnMotionStageCancleTubeCircularZAxis()
{
	m_circularencoder->UnBindZAxis();
	m_circularencoder->ActiveAutoNotifyWhenZClear(false);
}

void CArmGeneralModel::OnMotionStageStopMechMoving()
{
	m_circular->StopRotation();
	m_swing->StopSwing();
}

void CArmGeneralModel::OnMotionStageMoveTubeSwingAsPhysical()
{
	auto step = m_coordinates->ConvertMotorStepValue(m_swing->Name(), m_stageArgs->TubeSwingPhysical);
	m_swing->Swing(
		m_stageArgs->TubeSwingDirection,
		step,
		m_tubeSwingMotionPeriod);
}

void CArmGeneralModel::OnMotionStageMoveTubeCircularAsPhysical()
{
	auto step = m_coordinates->ConvertMotorStepValue(m_circular->Name(), m_stageArgs->TubeCircularMovePhysical);

	m_circular->Rotate(
		m_stageArgs->TubeCircularMoveDirection,
		step,
		m_tubeCircularMotionPeriod);
}

void CArmGeneralModel::SwitchScanningComponents(int nSwitch)
{

}

void CArmGeneralModel::OnStartExposure()
{
	if (m_fluoroSwitch)
	{
		if (gbusinessLog) gbusinessLog->Info("[CArmGeneralModel][OnStartExposure]->[Enable fluoro switch signal]");
		m_fluoroSwitch->OutputSignal(true);
	}
}

void CArmGeneralModel::OnStopExposure()
{
	if (m_fluoroSwitch)
	{
		if (gbusinessLog) gbusinessLog->Info("[CArmGeneralModel][OnStopExposure]->[Disable fluoro switch signal]");
		m_fluoroSwitch->OutputSignal(false);
	}
}

void CArmGeneralModel::SwitchWorkstation(string ws)
{
	m_CurWS = ws;
}