using Aurora;

using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Api.Manager;
using AuroraLaserScanner;

using Hermes;

using VisionCommon;

namespace WeldingCommon.Vision.Adapter
{
    internal class TeachingMotionManager : MotionManager<FovInfo>
    {
        private readonly IDeviceManager _deviceManger;
        private readonly Scanner _scanner;

        public TeachingMotionManager()
        {
            _deviceManger = VisionEnv.AuroraEnv.DeviceManager;
            _scanner = _deviceManger[CommonDeviceIds.Scanner] as Scanner;

            SetMotions();
        }

        private void SetMotions()
        {
            var fovInfos = VisionRecipeManager.GetFovInfos();
            if (fovInfos == null || fovInfos.Count == 0) return;
            SetMotion(fovInfos[0], new ScannerMotion(_scanner));
        }

        public class ScannerMotion : IMotion
        {
            private static readonly Logger _Logger = new Logger(typeof(ScannerMotion).Name);
            private Scanner _scanner;

            public ScannerMotion(Scanner scanner)
            {
                this._scanner = scanner;
            }

            public int RelMove(Position delta)
            {
                if (_scanner.IsActivated == false) {
                    _Logger.FuncE($"Not Activated");
                    return E.C(E1.GENERIC, E2.NOT_READY);
                }

                // delta 만큼 상대위치 이동 한다.
                //_Scanner.JumpRel(delta.X, delta.Y);
                _scanner.JumpRel(delta.X, delta.Y);

                return E1.OK;
            }

            public int AbsMove(Position position)
            {
                if (_scanner.IsActivated == false) {
                    _Logger.FuncE($"Not Activated");
                    return E.C(E1.GENERIC, E2.NOT_READY);
                }

                // 요청한 위치로 이동한다.
                //_Scanner.JumpAbs(position.X, position.Y);
                _scanner.JumpAbs(position.X, position.Y);

                return E1.OK;
            }

            public int MovePosition(ePositionType positionType)
            {
                if (_scanner.IsActivated == false) {
                    _Logger.FuncE($"Not Activated");
                    return E.C(E1.GENERIC, E2.NOT_READY);
                }

                // 1. 레시피 또는 모델에서 ePositionType에 맞는 포지션을 가져온다.
                // 예) 비전 얼라인 측정을 위한 티칭 포지션
                // 2. 포지션으로 AbsMove 절대 위치 이동한다.
                return E1.OK;
            }

            public Position GetPosition()
            {
                if (_scanner.IsActivated == false) {
                    _Logger.FuncE($"Not Activated");
                    return new Position();
                }

                // 현재 모터 위치를 가져온다.
                //_Scanner.GetXYPos(out var x, out var y);
                _scanner.GetXYPos(out var x, out var y);

                return new Position { X = x, Y = y };
            }
        }
    }
}