#include "Controller.h"
#include "../Purifier/XTPurifier.h"
#include "../Purifier/HBD3Purifier.h"
#include "../camera/GalaxyCamera.h"
#include "../camera/OPTCamera.h"
#include "../Purifier/G4Purifier.h"
#include "../PLC/SignalService.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){


}


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);

	DELP(m_Purifier);
	
	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_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) {
		m_RemoteClient->StartRemote();
	}
	m_ScannerCtrl->SetRemoteClient(m_RemoteClient);

	m_ScannerCtrl->SetMachineCtrl(m_MachineCtrl);

	switch (m_MachineCfg->m_PulifierType)
	{
		case PurifierTypeCfg::XT: {
			m_Purifier = new XTPurifier(m_ScannerCtrl);
		}break;
		case PurifierTypeCfg::HBD_PURIFIER_3: {
			m_Purifier = new HBD3Purifier(m_ScannerCtrl);
		}break;
		case PurifierTypeCfg::G4_PURIFIER: {
			m_Purifier = new G4Purifier(m_ScannerCtrl);
		}break;
		default:
			m_Purifier = new XTPurifier(m_ScannerCtrl);
	}
	m_Purifier->Init();

	m_jobController.StartLoadPrepareJob();

	
	//ConfigManager::GetInstance()->SendCfgToClients();  //发送配置到客户端
	//BaseCtrl::SendToClients();   //发送控制参数到客户端
} 


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

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

			this_thread::sleep_for(std::chrono::milliseconds(150));
		}
	});
	

}

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

}


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