package com.zy.core.model.protocol;

import com.zy.asrs.entity.BasRgv;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import lombok.Data;

/**
 * Created by vincent on 2020/8/7
 */
@Data
public class RgvProtocol {

    private Integer RgvNo;

    /**
     * 1 = 手动模式
     * 2 = 自动模式
     * 3 = 电脑模式
     */
    public Short mode = -1;

    public RgvModeType modeType = RgvModeType.NONE;

    /**
     * RGV当前状态
     * 0：空闲，无任务
     * 1：作业中
     * 2：报警
     */
    public Short status = -1;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType = RgvStatusType.NONE;

    /**
     * 任务号
     */
    public Long taskNo = 0L;

    /**
     * 有物
     */
    public Short loaded = -1;//0 无物；1 有物

    /**
     * RGV当前位置
     */
    public Long RgvPos = 0L;

    /**
     * RGV目的位置
     */
    public Long RgvPosDestination = 0L;

    /**
     * 走行在定位
     * 0 = 在定位
     * 1 = 不在定位
     */
    public Short walkPos;

    /**
     * 异常码
     */
    public Short alarm;

    /**
     * X行走行速度m/min
     */
    private Float xSpeed;

    /**
     * 累计走行距离km
     */
    public Float xDistance;

    /**
     * 累计走行时长h
     */
    public Float xDuration;

    /**
     * 车身
     */
    public Long carBodyJiaoMing = 2000L;

    /**
     * 车身
     */
    public Long carBodyKunPeng = 15000L;

    /**
     * 是否启用
     */
    public boolean statusEnable;//0\1\2



    // 急停
    private boolean err1;

    // 有物无资料
    private boolean err2;

    // 命令错误走行链条冲突
    private boolean err3;

    // 目标为超过走行极限
    private boolean err4;

    // 变频器异常
    private boolean err5;

    // 光电异常
    private boolean err6;
    //小车模式切换错误
    private boolean err7;
    //其他未知异常
    private boolean err8;
    private String errorRgv;

    public void setMode(Short mode) {
        this.mode = mode;
        this.modeType = RgvModeType.get(mode);
    }

    public void setMode(RgvModeType type) {
        this.modeType = type;
        this.mode = RgvModeType.get(type).id.shortValue();
    }

    public void setStatus(Short status){
        this.status = status;
        this.statusType = RgvStatusType.get(status);
    }

    public void setStatus(RgvStatusType type){
        this.statusType = type;
        this.status = RgvStatusType.get(type).id.shortValue();
    }

    public BasRgv toSqlModel(BasRgv basRgv){
        if (alarm!=null) {
            basRgv.setRgvErr(alarm.longValue());
        }
        basRgv.setWrkNo1(taskNo.intValue());
        return basRgv;
    }

    public long getRgvPosDestinationOrPos(boolean sign){
        if (!sign){
            return RgvPosDestination>RgvPos? RgvPosDestination:RgvPos;
        } else {
            return RgvPosDestination<RgvPos? RgvPosDestination:RgvPos;
        }
    }

    public void setxSpeed(Short xSpeed) {
        this.xSpeed = Float.valueOf(xSpeed);
    }

    public void setxDistance(Short xDistance) {
        this.xDistance = Float.valueOf(xDistance);
    }

    public void setxDuration(Short xDuration) {
        this.xDuration = Float.valueOf(xDuration);
    }

    public int getAlarm$(){
        if (err1){
            return 1;
        }
        if (err2){
            return 2;
        }
        if (err3){
            return 3;
        }
        if (err4){
            return 4;
        }
        if (err5){
            return 5;
        }
        if (err6){
            return 6;
        }
        if (err7){
            return 7;
        }
        if (err8){
            return 8;
        }
        return 0;
    }
    public String getAlarmM(){
        switch (getAlarm$()){
            case 1:
                return "急停";
            case 2:
                return "有物无资料";
            case 3:
                return "命令错误走行链条冲突";
            case 4:
                return "目标为超过走行极限";
            case 5:
                return "变频器异常";
            case 6:
                return "光电异常";
            case 7:
                return "小车模式切换错误";
            case 8:
                return "其它未知异常";
        }
        return "正常";
    }

}