package com.example.agvcontroller.protocol;


import com.example.agvcontroller.action.CommonConstant;
import com.example.agvcontroller.socket.RadixTools;

import java.io.Serializable;
import java.nio.ByteBuffer;

/**
 * 实时数据包2
 * Created by vincent on 2023/3/16
 */
public class AGV_13_UP implements IMessageBody, Serializable {

    private static final long serialVersionUID = 6993991304425938465L;

    @Override
    public byte[] writeToBytes() {
        return new byte[0];
    }

    @Override
    public void readFromBytes(byte[] bytes) {
        //地面码ID
        this.qrCode =  Utils.zeroFill(String.valueOf(RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 0, 4))), CommonConstant.QR_CODE_LEN);;
        //当前状态
        this.status = Utils.slice(bytes, 4, 1)[0];
        //直行方向坐标
        this.straightDirectionPosition = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 5, 4));
        //AGV当前角度
//        this.AGVCurrentAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 9, 4));
        this.AGVCurrentAngle = ByteBuffer.wrap(Utils.sliceWithReverse(bytes, 9, 4)).getFloat();
        //陀螺仪角度
        this.gyroAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 13, 4));
        //编码器角度
        this.encoderAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 17, 4));
        //当前高度
        this.currentAltitude = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 21, 2));
        //货叉伸出距离
        this.forkLength = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 23, 2));
        //载货台旋转角度
        this.loaderTheta = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 25, 2));
        //传感器状态标志
//        this.sensorStatusFlags = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 27, 4));

        byte[] sensorStatusBytes = Utils.slice(bytes, 27, 4);
        parseSensorStatue(sensorStatusBytes);
    }

    @Override
    public String getSerialNo() {
        return "";
    }

    //地面码ID
    private String qrCode;

    //当前状态
    private int status;

    //直行方向坐标-单位：mm
    private int straightDirectionPosition;

    //AGV当前角度-单位：°
    private float AGVCurrentAngle;

    //陀螺仪角度-单位：°
    private int gyroAngle;

    //编码器角度-单位：°
    private int encoderAngle;

    //当前高度
    private int currentAltitude;

    // 货叉伸出距离
    private int forkLength;

    // 载货台旋转角度
    private int loaderTheta;

    //传感器状态标志
    private int sensorStatusFlags;

    // 取放货状态
    private byte inOutFlag;

    private void parseSensorStatue(byte[] bytes) {
        this.tempLoc1 = Utils.getBit(bytes[0], 0);
        this.tempLoc2 = Utils.getBit(bytes[0], 1);
        this.tempLoc3 = Utils.getBit(bytes[0], 2);
        this.tempLoc4 = Utils.getBit(bytes[0], 3);
        this.tempLoc5 = Utils.getBit(bytes[0], 4);
        this.tempLoc6 = Utils.getBit(bytes[0], 5);
        this.tempLoc7 = Utils.getBit(bytes[0], 6);
        this.tempLoc8 = Utils.getBit(bytes[0], 7);

        this.inOutFlag = bytes[1];

//        this.tempLoc9 = Utils.getBit(bytes[1], 0);
//        this.tempLoc10 = Utils.getBit(bytes[1], 1);
//        this.tempLoc11 = Utils.getBit(bytes[1], 2);
//        this.tempLoc12 = Utils.getBit(bytes[1], 3);
//        this.tempLoc13 = Utils.getBit(bytes[1], 4);
//        this.tempLoc14 = Utils.getBit(bytes[1], 5);
//        this.tempLoc15 = Utils.getBit(bytes[1], 6);
//        this.tempLoc16 = Utils.getBit(bytes[1], 7);

        this.expandFront = Utils.getBit(bytes[2], 0);
        this.expandBack = Utils.getBit(bytes[2], 1);
        this.expandLeft = Utils.getBit(bytes[2], 2);
        this.expandRight = Utils.getBit(bytes[2], 3);
        this.finger1 = Utils.getBit(bytes[2], 4);
        this.finger2 = Utils.getBit(bytes[2], 5);
        this.finger3 = Utils.getBit(bytes[2], 6);
        this.finger4 = Utils.getBit(bytes[2], 7);

        this.rotaLeft = Utils.getBit(bytes[3], 0);
        this.rotaRight = Utils.getBit(bytes[3], 1);
        this.loaderFront = Utils.getBit(bytes[3], 2);
        this.loaderBack = Utils.getBit(bytes[3], 3);
        this.loaderMid = Utils.getBit(bytes[3], 4);
        this.liftMid = Utils.getBit(bytes[3], 5);
        this.liftUp = Utils.getBit(bytes[3], 6);
        this.liftBottom = Utils.getBit(bytes[3], 7);
    }


    // 暂存货位1检测
    private boolean tempLoc1;

    // 暂存货位2检测
    private boolean tempLoc2;

    // 暂存货位3检测
    private boolean tempLoc3;

    // 暂存货位4检测
    private boolean tempLoc4;

    // 暂存货位5检测
    private boolean tempLoc5;

    // 暂存货位6检测
    private boolean tempLoc6;

    // 暂存货位7检测
    private boolean tempLoc7;

    // 暂存货位8检测
    private boolean tempLoc8;

    // 暂存货位9检测
    private boolean tempLoc9;

    // 暂存货位10检测
    private boolean tempLoc10;

    // 暂存货位11检测
    private boolean tempLoc11;

    // 暂存货位12检测
    private boolean tempLoc12;

    // 暂存货位13检测
    private boolean tempLoc13;

    // 暂存货位14检测
    private boolean tempLoc14;

    // 暂存货位15检测
    private boolean tempLoc15;

    // 暂存货位16检测
    private boolean tempLoc16;

    // 伸缩前限位
    private boolean expandFront;

    // 伸缩后限位
    private boolean expandBack;

    // 伸缩左零位
    private boolean expandLeft;

    // 伸缩右零位
    private boolean expandRight;

    // 拨指1位置
    private boolean finger1;

    // 拨指2位置
    private boolean finger2;

    // 拨指3位置
    private boolean finger3;

    // 拨指4位置
    private boolean finger4;

    // 回转左到位
    private boolean rotaLeft;

    // 回转右到位
    private boolean rotaRight;

    // 载货台前探货
    private boolean loaderFront;

    // 载货台后探货
    private boolean loaderBack;

    // 载货台货物检测
    private boolean loaderMid;

    // 升降零位
    private boolean liftMid;

    // 升降上限位
    private boolean liftUp;

    // 升降下限位
    private boolean liftBottom;

}