/*
 * Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
 *
 *    Project: adapter
 *    File: dock.go
 *    Last: 2025-01-13 20:04:51
 *    Author: wangcheng@bj-hardman.com
 */

package robot

import (
	"context"

	"bj_power_mes/internal/preload"
)

func (c *Controller) FetchWorkpieceFromDock(ctx context.Context, workpieceType int, dockNo int, slotNo int) error {
	err := c.executeAction(ctx, "FetchWorkpieceFromDock",
		newArg(int8(workpieceType), "workpieceType"), //工件类型
		newArg(int8(dockNo), "dockNo"),               //接驳台位置号 1-10
		newArg(int8(slotNo), "slotNo"),               //工件位置号 1-9
		newArg(int8(0)),
		newArg(int32(0)),
	)
	return err
}

func (c *Controller) PlaceWorkpieceToDock(ctx context.Context, workpieceType int, dockNo int, slotNo int) error {
	err := c.executeAction(ctx, "PlaceWorkpieceToDock",
		newArg(int8(workpieceType), "workpieceType"), //工件类型
		newArg(int8(dockNo), "dockNo"),               //接驳台位置号 1-10
		newArg(int8(slotNo), "slotNo"),               //工件位置号 1-9
		newArg(int8(0)),
		newArg(int32(0)),
	)
	return err
}

func (c *Controller) PlaceWorkpieceToWasteStation(ctx context.Context, workpieceType int) error {
	err := c.executeAction(ctx, "PlaceWorkpieceToWasteStation",
		newArg(int8(workpieceType), "workpieceType"),
		newArg(int8(0)),
		newArg(int16(0)),
		newArg(int32(0)),
	)
	return err
}

// DockStates 获取接驳台状态
func (c *Controller) DockStates() ([]bool, error) {
	addr := preload.GetMAddress("DockStates")
	return c.plcClient.ReadBools(addr.Addr.String(), 10)
}