/*
 * Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
 *
 *    Project: adapter
 *    File: error.go
 *    Last: 2025-05-15 11:52:07
 *    Author: wangcheng@bj-hardman.com
 */

package plc

import (
	"encoding/binary"
	"errors"
	"fmt"

	"bj_power_mes/internal/preload"
)

// 预定义错误
var (
	ErrNotConnect     = errors.New("PLC未连接")
	ErrInvalidAddress = errors.New("无效的PLC地址")
)

// GetErrorCode 获取机器人错误代码
func (m *Manager) GetErrorCode() (int64, error) {
	addr := preload.GetMAddress("ErrorCode")
	bs, err := m.GetPlc().Read(addr.Address(), 8)
	if err != nil {
		return 0, err
	}

	return int64(binary.LittleEndian.Uint64(bs)), nil
}

var (
	Err_TaskNoError        = RobotError(1 << 0) // 任务号错误
	Err_RackNoError        = RobotError(1 << 1) // 料架号下发错误
	Err_RackHasNoWorkpiece = RobotError(1 << 2) // 所取料架号无料
)

var RobotErrorMap = map[RobotError]string{
	Err_TaskNoError:        "任务号错误",
	Err_RackNoError:        "料架号下发错误",
	Err_RackHasNoWorkpiece: "所取料架号无料",
}

type RobotError int64

func (r RobotError) Error() string {
	if s, ok := RobotErrorMap[r]; ok {
		return s
	}
	return fmt.Sprintf("unknown robot error (code: %d)", int64(r))
}