#include "Controller.h"
#include "../Purifier/XTPurifier.h"
#include "../Purifier/HBD3Purifier.h"
#include "../camera/GalaxyCamera.h"
#include "../camera/OPTCamera.h"
//#include "../Purifier/G4Purifier.h"
#include "../Purifier/M1Purifier.h"
#include "../PLC/SignalService.h"
#include "../Logger.h"
#include "../SystemInfo.h"


Controller::Controller()
	: m_Machine(nullptr)
	, m_CoreCommunication(nullptr)
	, m_Axis(nullptr)
	, m_StateCtrlWrapper(nullptr)
    , m_SysParamWrapper(nullptr)
    , m_AxisRecordWrapper(nullptr)
    , m_SignalStateWrapper(nullptr)
	, m_sendTdExitFlag(false)
	, m_reg(nullptr){


}


Controller::~Controller() {
	StopSend();

	m_CoreCommunication->Shutdown();
	DELP(m_CoreCommunication);
	DELP(m_Axis);
	DELP(m_StateCtrlWrapper);
	DELP(m_SysParamWrapper);
	DELP(m_AxisRecordWrapper);
	DELP(m_SignalStateWrapper);

	if (m_ComServer) m_ComServer->Shutdown();
	DELP(m_ComServer);
	DELP(m_RemoteClient);
	DELP(m_MachineCtrl);
	DELP(m_ScannerCtrl);

	if (m_InfraredTemp){
		m_InfraredTemp->Shutdown();
		DELP(m_InfraredTemp);
	}

	DELP(m_Calibration);
	DELP(m_Purifier);
	DELP(m_reg);
	
	BaseCtrl::SUninit();
}


void Controller::Init(){
	BaseCtrl::SInit();
	m_jobController.SInit();

	m_CoreCommunication = new CoreCommunication();
	m_CoreCommunication->SetIOCfgWrapper(ConfigManager::GetInstance()->GetIoCfgWrapper());
	m_CoreCommunication->SetSysParamWrapper(m_SysParamWrapper);
	m_CoreCommunication->SetPLCAxis(m_Axis);
	m_CoreCommunication->SetAlarmStateWrapper(m_SignalStateWrapper);
	m_CoreCommunication->SetAxisRecordWrapper(m_AxisRecordWrapper);
	m_CoreCommunication->Init();
	m_CoreCommunication->Startup();

	m_SysParamWrapper = new SysParamWrapper;
	m_SysParamWrapper->Init(m_CoreCommunication);
	m_StateCtrlWrapper = new StateCtrlWrapper;
	m_StateCtrlWrapper->Init(m_CoreCommunication);
	m_AxisRecordWrapper = new AxisRecordWrapper;
	m_AxisRecordWrapper->Init(m_CoreCommunication);

	m_SignalStateWrapper = new SignalStateWrapper();
	m_Machine = ConfigManager::GetInstance()->GetMachine();
	m_Machine->InitSignal(m_SignalStateWrapper, m_CoreCommunication);
	//m_Machine->InitSysParam(m_SysParamWrapper, m_CoreCommunication);
	m_Axis = new PLCAxis(m_SysParamWrapper, m_StateCtrlWrapper);
	m_Machine->SetAxisAndSignal(m_SysParamWrapper, m_AxisRecordWrapper, m_Axis);

	SignalService::GetInstance().SetSignalStateCtrl(m_SignalStateWrapper);

	m_MachineCtrl = new MachineCtrl();
	m_MachineCtrl->Init(m_CoreCommunication, m_SysParamWrapper, m_SignalStateWrapper, m_Axis);
	
	m_Machine->SetMachineCtrl(m_MachineCtrl);
	m_MachineCtrl->MachineStartup();

	m_MachineCfg = ConfigManager::GetInstance()->GetMachineCfg();
	m_ComServer = new ComServer();  //辅机服务
	m_ComServer->Init();

	m_ScannerCtrl = new ScannerCtrl(/*m_ServoManager*/);
	m_ScannerCtrl->SetJobController(&m_jobController);
	m_ScannerCtrl->Init();
	m_ScannerCtrl->SetScannerPowerClient(m_ComServer->m_ScannerPowerClient);

	m_ComServer->m_ScannerPowerClient->Init();
	m_ComServer->Startup();

	m_RemoteClient = new RemoteClient(nullptr, nullptr/*m_ScannerCtrl*/);
	m_RemoteClient->Init();
	//m_RemoteClient->SetCamera( nullptr  /*m_Camera*/);
	if (m_RemoteClient->GetConfig()->m_Enable->GetValue()) {
		m_RemoteClient->StartRemote();
	}
	m_ScannerCtrl->SetRemoteClient(m_RemoteClient);

	m_ScannerCtrl->SetMachineCtrl(m_MachineCtrl);

	switch (m_MachineCfg->m_PulifierType->GetValue())
	{
		//case PurifierTypeCfg::HBD_PURIFIER_1: {
		//	m_Purifier = new HBD1Purifier(m_GTSController->GetDacState(),m_ScannerCtrl);
		//	
		//}break;
	case PurifierTypeCfg::XT: {
		m_Purifier = new XTPurifier(m_ScannerCtrl);
	}break;
	case PurifierTypeCfg::HBD_PURIFIER_3: {
		m_Purifier = new HBD3Purifier(m_ScannerCtrl);
	}break;
	case PurifierTypeCfg::M1: {
		m_Purifier = new M1Purifier(m_ScannerCtrl);
	}break;
		//case PurifierTypeCfg::HBD_PURIFIER_2: {
		//	m_Purifier = new HBD2Purifier(m_GTSController->GetDacState(), m_ScannerCtrl);
		//}break;
	default:
		m_Purifier = new XTPurifier(m_ScannerCtrl);
	}
	m_Purifier->Init();

	m_reg = new Registration();

	m_ExtCfg = ConfigManager::GetInstance()->GetExtCfg();
	if (m_ExtCfg->m_CameraType == ExtCfg::Galaxy) {
		m_Camera = new GalaxyCamera();
	}
	else if (m_ExtCfg->m_CameraType == ExtCfg::OPT) {
		m_Camera = new OPTCamera();
	}
	else {
		m_Camera = new GalaxyCamera();
	}
	if (m_ExtCfg->m_UseCamera) {
		if (m_Camera->Init()) {
			m_Camera->StartUp();
		}
	}

	m_jobController.StartLoadPrepareJob();

	m_InfraredTempCfg = ConfigManager::GetInstance()->GetInfraredTempCfg();
	m_InfraredTemp = new InfraredTemp();
	m_InfraredTemp->Init();
	m_InfraredTemp->SetJobCtrl(&m_jobController);
	if (m_InfraredTempCfg->m_IsEnable) {
		m_InfraredTemp->Startup();
	}

	m_ScannerCtrl->SetInfraredTemp(m_InfraredTemp);
} 


void Controller::StartSend() {
	StopSend();

	m_sendTdExitFlag = false;
	m_sendParamThread = std::thread([this] {
		while (!m_sendTdExitFlag) {
			m_ComServer->SendToClients();
			m_Purifier->SendToClients();

			//轴参数
			m_Axis->m_Mold->GetState()->SendToClients(AXISMOLD);
			m_Axis->m_MoldSlave->GetState()->SendToClients(AXISMOLDSLAVE);
			m_Axis->m_Clean->GetState()->SendToClients(AXISCLEAN);
			m_Axis->m_CleanSlave->GetState()->SendToClients(AXISCLEANSLAVE);
			m_Axis->m_Load->GetState()->SendToClients(AXISLOAD);
			m_Axis->m_Arm->GetState()->SendToClients(AXISMARM);
			m_Axis->m_Supply->GetState()->SendToClients(AXISMSUPPLY);
			m_Axis->m_Ele->GetState()->SendToClients(AXISELE);
			m_Axis->m_EleSlave->GetState()->SendToClients(AXISELESLAVE);

			//扫描参数
			static int count = 0;
			++count;
			if (count == 2) {  //发送频率降低
				m_ScannerCtrl->SendToClients();
				m_Camera->SendToClients();
				count = 0;
			}

			m_jobController.SendToClients();

			this_thread::sleep_for(std::chrono::milliseconds(250));
		}
	});
	

}

void Controller::StopSend() {
	m_sendTdExitFlag = true;
	if (m_sendParamThread.joinable()) m_sendParamThread.join();

}


void Controller::UpdateFile(const string& filePath) {
	m_jobController.LoadJob(filePath);
}


void Controller::PreperBeforeShow() {
	bool isOpenContinue = false;    //返回
	FileProcessor* pjp = m_jobController.GetJob();
	//if (g_log->m_LogDao->GetCheckJob(pjp->GetJobUid(), m_JobAssist.continueJob))
	//{
	//	isOpenContinue = true;
	//}
	//vector<PartAddition*> partv;
	//g_log->m_LogDao->FindPartAddition(pjp->GetJobUid(), partv);
	//for (size_t paIndex = 0; paIndex < partv.size(); ++paIndex)
	//{
	//	PartAddition* pa = partv[paIndex];
	//	MetaData::Part* sourcePart = pjp->GetMetaData()->GetPart(pa->m_SourcePart);
	//	MetaData::Part* newPart = sourcePart->CopyPart(pjp->GetMetaData()->GetPartVec().size());
	//	newPart->id = pa->m_NewPart;
	//	pjp->GetMetaData()->AddPart(newPart);
	//	m_Renderer->AddPart(newPart);
	//	m_PrevRenderer->AddPart(newPart);

	//}
	//for (size_t paIndex = 0; paIndex < partv.size(); ++paIndex) {
	//	delete partv[paIndex];
	//}
	//partv.clear();

	//vector<int> partIds;
	//pjp->GetMetaData()->GetPartIds(partIds);
	//g_log->m_LogDao->AddPartPos(pjp->GetJobUid(), partIds);

	//vector<PartPosBean*> partPosv;

	//g_log->m_LogDao->FindPartPos(pjp->GetJobUid(), partPosv);
	//for (size_t paIndex = 0; paIndex < partPosv.size(); ++paIndex)
	//{
	//	MetaData::Part* ppb = pjp->GetMetaData()->GetPart(partPosv[paIndex]->m_PartId);
	//	if (ppb) {
	//		ppb->partPosBean.m_XOffset = partPosv[paIndex]->m_XOffset;
	//		ppb->partPosBean.m_YOffset = partPosv[paIndex]->m_YOffset;
	//		ppb->partPosBean.m_RotateAngle = partPosv[paIndex]->m_RotateAngle;
	//		ppb->partPosBean.m_Radians = (float)MathHelper::DegreesToRadians((double)ppb->partPosBean.m_RotateAngle);
	//		ppb->partPosBean.m_PartCenterX = ppb->partPosBean.m_XOffset + ppb->partPosBean.m_SrcPartCenterX;
	//		ppb->partPosBean.m_PartCenterY = ppb->partPosBean.m_YOffset + ppb->partPosBean.m_SrcPartCenterY;
	//		Part* prev_part = m_PrevRenderer->GetPart(ppb->id);
	//		if (prev_part)prev_part->UpdateOffset();
	//		Part* print_part = m_Renderer->GetPart(ppb->id);
	//		if (print_part)print_part->UpdateOffset();
	//	}
	//}

	//for (size_t paIndex = 0; paIndex < partPosv.size(); ++paIndex) {
	//	delete partPosv[paIndex];
	//}
	//partPosv.clear();

	g_log->TraceInfo(g_LngManager->Log_AddTask->ShowText(), pjp->GetJobFileName().c_str());

	if (m_InfraredTemp->IsConnect() && BaseCtrl::IsStandBy()) {
		pjp->GetMetaData()->LoadPrevLayerByIndex(0);
		///m_UIController.m_InfraredTemp->FindContours(false);
		//m_UIController.m_InfraredTemp->GetLayerRegions(i);
	}
	vector<MetaData::Part*> partve = pjp->GetMetaData()->GetPartVec();
	m_InfraredTemp->ClearTempRegion();
	for (size_t partIndex = 0; partIndex < partve.size(); partIndex++) {
		MetaData::Part* part = partve[partIndex];
		TempRegion* tr = new TempRegion(part->id);
		tr->SetAvgSize(m_InfraredTempCfg->m_AvgCalcValueType->GetValue());
		tr->m_PartMinX = part->dimensions->xmin - 2.0;
		tr->m_PartMaxX = part->dimensions->xmax + 2.0;
		tr->m_PartMinY = part->dimensions->ymin - 2.0;
		tr->m_PartMaxY = part->dimensions->ymax + 2.0;
		tr->m_LastWaitTemp = m_InfraredTempCfg->m_ChillDowmTemp->GetValue();
		//m_UIController.m_InfraredTemp->TranRect(part->dimensions->xmin,part->dimensions->ymin,part->dimensions->xmax,part->dimensions->ymax,tr->startX,tr->startY,tr->endX,tr->endY);
		m_InfraredTemp->CalcRefRegion(tr);
		m_InfraredTemp->AddTempRegion(tr);
	}
	m_Calibration->UpdateData(pjp->GetMetaData());

}

void Controller::ContinueTask() {
	m_JobAssist.continueJob.m_IsContinue = true;
	FileProcessor* pjp = m_jobController.GetJob();
	pjp->SetJobbean(m_JobAssist.continueJob);
	if (m_JobAssist.continueJob.m_PrintedLayerIndex + 1 < pjp->GetLayerCount()) {
		pjp->SetStartIndex(m_JobAssist.continueJob.m_PrintedLayerIndex + 1);
		pjp->GetMetaData()->CalcRemainTime(m_JobAssist.continueJob.m_PrintedLayerIndex + 1);
	}

	pjp->GetMetaData()->LoadLayerByIndex(m_JobAssist.continueJob.m_PrintedLayerIndex + 1);
	g_SystemInfo->m_StateBean.remainMil = pjp->GetMetaData()->GetRemainTime();
	g_SystemInfo->m_StateBean.realCostSeconds = m_JobAssist.continueJob.m_PrintSecond;
	g_SystemInfo->m_StateBean.layerIndex = m_JobAssist.continueJob.m_PrintedLayerIndex;
	g_SystemInfo->m_StateBean.jobProgress = g_SystemInfo->m_StateBean.layerIndex / g_SystemInfo->m_StateBean.maxLayerIndex;
}