#include "stdafx.h"
#include "ParkingHandler.h"
#include "IMotionModelManager.h"
#include "ConfigurerMotion.h"
#include "IMotionModel.h"
#include "MotionStages.h"
#include "MechnicalMonitor.h"
#include "ParkingMotionStageArgs.h"
#include "WorkFlowManager.h"

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

ParkingHandler::ParkingHandler() 
:m_modelLoaded(FALSE),
m_modelManager(nullptr)
{
}


ParkingHandler::~ParkingHandler()
{
}

void ParkingHandler::OnModelLoaded(IMotionModelManager *modelManager)
{
	m_modelManager = modelManager;
}

void ParkingHandler::OnCoordinatesLoaded(IPositionManager *coordinates)
{

}

RET_STATUS ParkingHandler::OnSelectExamMode(const char *pExamKey)
{
	if (!m_modelLoaded)
	{
		auto model = m_modelManager->Resove(MOTION_MODEL_PARKING);
		if (model)
		{
			ResDataObject mechparms;
			if (ConfigurerMotion::GetMachineryConfigs(mechparms))
			{
				model->LoadMachineryParams(mechparms);
			}
		}

		m_modelLoaded = TRUE;
	}

	return RET_STATUS::RET_SUCCEED;
}

RET_STATUS ParkingHandler::OnSetTechParamsInfo(ResDataObject &pParam)
{
	return RET_STATUS::RET_SUCCEED;
}

void ParkingHandler::OnMotionEvent(const std::string &motionEventName)
{
	auto model = m_modelManager->Resove(MOTION_MODEL_RAD);
	auto args = model->GetStageArgs();
	auto stageName = model->GetStageName();

	if (motionEventName == MONITOR_EVENT_TUBEANGLE_MOVE_STOP)
	{
		args->SetTubeAngleMotionStatus(FALSE);
	}
	else if (motionEventName == MONITOR_EVENT_TUBEHEIGHT_MOVE_STOP)
	{
		args->SetTubeHeightMotionStatus(FALSE);
	}

	if (args->IsMotionStoped())
	{
		if (stageName == PARKING_STAGE_PARK_TO_HORIZONTAL 
			|| stageName == PARKING_STAGE_PARK_TO_VERTICAL
			|| stageName == PARKING_STAGE_PARK_TO_TUBE_ANGLE_LOW_LIMIT
			|| stageName == PARKING_STAGE_PARK_TO_TUBE_HEIGHT_LOW_LIMIT
			)
		{
			WorkFlowManager::Instance()->ExitParking();
		}
	}
}

RET_STATUS ParkingHandler::OnStopMech()
{
	ChangeMotionModelStage(PARKING_STAGE_STOP_MOVE);

	return RET_STATUS::RET_SUCCEED;
}

RET_STATUS ParkingHandler::OnStartParking(ResDataObject &ParamIn)
{
	if (ParamIn.GetFirstOf("ParkingMode") >= 0)
	{
		auto parkingMode = atoi(ParamIn["ParkingMode"]);
		if (parkingMode == PKM_HORIZONTAL)
		{
			ChangeMotionModelStage(PARKING_STAGE_PARK_TO_HORIZONTAL);
		}
		else if (parkingMode == PKM_VERTICAL)
		{
			ChangeMotionModelStage(PARKING_STAGE_PARK_TO_VERTICAL);
		}
		else if (parkingMode == PKM_TUBE_ANGLE_LOW_LIMIT)
		{
			ChangeMotionModelStage(PARKING_STAGE_PARK_TO_TUBE_ANGLE_LOW_LIMIT);
		}
		else if (parkingMode == PKM_TUBE_HEIGHT_LOW_LIMIT)
		{
			ChangeMotionModelStage(PARKING_STAGE_PARK_TO_TUBE_HEIGHT_LOW_LIMIT);
		}
	}
	else
	{
		return RET_STATUS::RET_FAILED;
	}

	return RET_STATUS::RET_SUCCEED;
}

void ParkingHandler::ChangeMotionModelStage(const std::string &stageName)
{
	auto model = m_modelManager->Resove(MOTION_MODEL_PARKING);
	if (model)
	{
		model->ChangeStage(stageName);
		if (stageName == PARKING_STAGE_PARK_TO_HORIZONTAL 
			|| stageName == PARKING_STAGE_PARK_TO_VERTICAL
			|| stageName == PARKING_STAGE_PARK_TO_TUBE_ANGLE_LOW_LIMIT
			|| stageName == PARKING_STAGE_PARK_TO_TUBE_HEIGHT_LOW_LIMIT
			)
		{
			auto stageArgs = model->GetStageArgs();
			stageArgs->SetTubeAngleMotionStatus(TRUE);
			stageArgs->SetTubeHeightMotionStatus(TRUE);
			MechnicalMonitor::Instance()->BeginMonitor(this);
		}
	}
}