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

package robot

import (
	"context"
	"bj_power_mes/internal/preload"
)

// PlaceWorkpieceToTempStation 将工件放置到暂存台
func (c *Controller) PlaceWorkpieceToTempStation(ctx context.Context, workpieceType int, slot int) error {
	return c.executeAction(ctx, "PlaceWorkpieceToTempStation",
		newArg(int8(workpieceType), "workpieceType"), //工件类型
		newArg(int8(slot), "slot"),                   //工件位置号
		newArg(int16(0)),
		newArg(int32(0)),
	)
}

// FetchWorkpieceFromTempStation 从暂存台取工件
func (c *Controller) FetchWorkpieceFromTempStation(ctx context.Context, workpieceType int, slot int) error {
	return c.executeAction(ctx, "FetchWorkpieceFromTempStation",
		newArg(int8(workpieceType), "workpieceType"), //工件类型
		newArg(int8(slot), "slot"),                   //工件位置号
		newArg(int16(0)),
		newArg(int32(0)),
	)
}

// TempStates 获取随行暂存台槽位状态
func (c *Controller) TempStates() ([]bool, error) {
	addr := preload.GetMAddress("TempStates")
	return c.plcClient.ReadBools(addr.Addr.String(), 8)
}