using Aurora.Api;
using ILSOS_PrismaticRD_PTOP.Device;
using ILSOS_PrismaticRD_PTOP.Settings;
using static ILSOS_PrismaticRD_PTOP.Device.PLCControllerPTOP;
using SystemParameter = WeldingCommon.Settings.SystemParameter;

namespace ILSOS_PrismaticRD_PTOP.Sequences
{
    // 카메라 헤드 각도(D70510)에 따라 Front/Down 발진 offset 을 선택한다.
    // thetaDeg = D70510 / PlcScale 가 (Front angle + Down angle)/2 보다 크면 Down, 아니면 Front.
    // PLC 미연결/미활성으로 각도를 못 읽으면 Front offset 적용(fallback).
    internal static class LaserAngleOffsetSelector
    {
        public static (double x, double y) Select(
            PLCControllerPTOP plc, SystemParameter sp, LaserInterlockSetting setting, Logger log, string tag)
        {
            double frontAngle = setting != null ? setting.HeadThetaFront : 0;
            double downAngle = setting != null ? setting.HeadThetaDown : 90;
            double avg = (frontAngle + downAngle) / 2.0;
            double scale = (setting != null && setting.HeadThetaPlcScale != 0) ? setting.HeadThetaPlcScale : 1;

            bool useDown = false;
            double thetaDeg = double.NaN;
            if (plc != null && plc.IsActivated)
            {
                short raw = plc.ReadWord(eWordInput.HEAD_THETA_POSITION).data; // D70510
                thetaDeg = raw / scale;
                useDown = thetaDeg > avg;   // 평균보다 높으면 Down
            }
            else
            {
                log.W($"[{tag}] 각도 offset: PLC 미연결/미활성 → Front offset 적용(fallback)");
            }

            double selX = useDown ? sp.DownOffsetX : sp.FrontOffsetX;
            double selY = useDown ? sp.DownOffsetY : sp.FrontOffsetY;

            log.I($"[{tag}] 각도 offset 선택: D70510={thetaDeg:F1}deg, avg={avg:F1} " +
                  $"(FrontAngle={frontAngle}, DownAngle={downAngle}) → {(useDown ? "Down" : "Front")} 적용 | " +
                  $"FrontOffset=({sp.FrontOffsetX},{sp.FrontOffsetY}) DownOffset=({sp.DownOffsetX},{sp.DownOffsetY}) " +
                  $"→ 적용=({selX},{selY})");

            return (selX, selY);
        }
    }
}