package com.zy.asrs.wcs.rcs.thread;

import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;

import java.util.List;

public interface ShuttleThread extends ThreadHandler{

    ShuttleProtocol getStatus(boolean clone);//获取四向穿梭车状态

    ShuttleProtocol getStatus();//获取四向穿梭车状态-默认clone

    Device getDevice();//获取设备信息

    boolean movePath(List<NavigateNode> nodes, Integer taskNo);//路径下发

    boolean move(ShuttleCommand command);//移动

    boolean lift(ShuttleCommand command);//顶升

    boolean charge(ShuttleCommand command);//充电开关

    boolean reset(ShuttleCommand command);//复位开关

    boolean updateLocation(ShuttleCommand param);//更新坐标

    boolean isIdle();

    boolean isIdle(ExecuteSupport support);//是否空闲

    boolean isDeviceIdle();//设备是否空闲

    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    boolean isRequireCharge();//是否满足充电状态

    boolean isCharging();//是否充电中

    boolean isChargingCompleted();//是否充电完成

    List<NavigateNode> getMoveAdvancePath();//获取穿梭车任务路径

    int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType);//生成硬件设备工作号

    boolean setProtocolStatus(ShuttleProtocolStatusType status);//设置工作状态

    boolean setSyncTaskNo(Integer taskNo);//设置工作号

    boolean setPakMk(boolean pakMk);//设置标记

    boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable);

    //***************获取命令*****************

    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令

    ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//顶升命令 true=>顶升 false=>下降

    ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//充电开关命令 true=>开 false=>关

    ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo);//获取更新坐标命令

}