#pragma once
#include "IMotionModel.h"

namespace DiosCtrlBox
{
	class CBCTMotionStageArgs;
	class ICircularController;
	class ISwingController;
	class ISensorEncoderController;
	class IExposureController;

	class CBCTMotionModel : public IMotionModel
	{
	public:
		CBCTMotionModel();
		~CBCTMotionModel();
	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;
	private:
		void OnMotionStage(const std::string &stageName);
		void MotionStageClearParams();
		void MotionStageCalculateParams();
		void MotionStageSetCBCTMotionSlice();
		void MotionStageMovetoEndPos();
		void MotionStageMovetoStartPos();
		void MotionStageErrorStop();
		void MotionStageErrorRecover();
		void TubeSwingToStartPostion();
		void TubeCircularToStartPosition();
		int  JudgeDirectionInTubeSwingAxis(float current, float target);
		void RotateTubeSwing(int direction, float offset);
		int  JudgeDirectionInTubeHeightAxis(float current, float target);
		void MoveTubeCircular(int direction, float offset, float speed = 0.0f);
	private:
		std::string m_StageName;
		CBCTMotionStageArgs *m_stageArgs;
		IPositionManager *m_coordinates;
		IMachineryManager *m_machineryManager;
		ICircularController *m_circular;
		ISwingController *m_swing;
		ISensorEncoderController *m_circularencoder;
		ISensorEncoderController *m_swingencoder;
		IExposureController *m_exposure;
		ResDataObject m_MachineryParams;
		ResDataObject m_ModelParams;
		ResDataObject m_TechnicalParams;
		float m_startPos;
		float m_endPos;
		std::vector<float> m_exposureTriggerSlice;
		std::vector<int> m_FeedbackTubeCircularEncoders;
	};
}