package com.zy.core.thread;

import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.zy.core.ThreadHandler;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

/**
 * RoboticArm 机械手线程
 * Created by Monkey D. Luffy on 2025/8/22
 */
@Data
@Slf4j
public class RoboticArmThread implements Runnable, ThreadHandler {

    private SiemensS7Net siemensS7Net;
//    private RoboticArmSlave slave;
//    private RoboticArmProtocol roboticArmProtocol;
    private short heartBeatVal = 1;
    private boolean connectRoboticArm = false;


//    public RoboticArmThread(RoboticArmSlave slave) {
//        this.slave = slave;
//    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {

        connectRoboticArm = this.connect();
        while(!connectRoboticArm){
            try {
                connectRoboticArm = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

        // 启动线程自动重连
        new Thread(this::roboticArmConnect).start();

        // 启动读数据线程
        new Thread(this::readStatusRoboticArm).start();

        // 启动任务下发线程
        new Thread(this::taskIssued).start();


    }

    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.RoboticArm, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                switch (step) {
//                    case 1:
//                        break;
//                    case 2:
////                        write((RoboticArmCommand) task.getData());
//                        break;
//                    default:
//                        break;
//                }
                // 心跳
//                heartbeat();
                Thread.sleep(200);
            } catch (Exception e) {
                log.error("RoboticArm写线程异常"+e.getMessage());
            }

        }
    }

    private void roboticArmConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRoboticArm){
                    try {
                        connectRoboticArm = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                initSte();
            }
        }
    }

    private void readStatusRoboticArm() {
        while (true) {
            try {
                Thread.sleep(50);

                readStatus();

            } catch (Exception e) {
                initSte();
            }

        }

    }

    /**
     * 初始化状态
     */
    private void initSte() {

    }

    @Override
    public boolean connect() {
        boolean result = false;


        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){

    }
//
//    /**
//     * 写入数据
//     */
//    private synchronized boolean write(String command){
//
//    }

    @Override
    public void close() {

    }

    /**
     * 心跳
     */
    private void heartbeat(){

    }

}