package robot

import (
	"context"
	"fmt"
	"log/slog"
	"time"

	"bj_power_mes/internal/preload"
)

// RequestCleaningLoading 发送清洗线上料请求（PLC M1146.3 = true）。
// 清洗线上料前先发送信号
func (c *Controller) RequestCleaningLoading(ctx context.Context) error {
	addr := preload.GetMAddress("CleaningRequestLoading")
	slog.Info("发送清洗线上料请求", "address", addr.Addr.String())
	err := c.plcClient.WriteBool(addr.Address(), true)
	if err != nil {
		slog.Error("发送清洗线上料请求信号失败", "address", addr.Address(), "error", err)
		return err
	}
	return nil
}

// CloseRequestCleaningLoading 关闭清洗线上料请求（PLC M1146.3 = false）。
// 清洗线上料后关闭信号
func (c *Controller) CloseRequestCleaningLoading(ctx context.Context) error {
	addr := preload.GetMAddress("CleaningRequestLoading")
	slog.Info("关闭清洗线上料请求", "address", addr.Address())
	err := c.plcClient.WriteBool(addr.Address(), false)
	if err != nil {
		slog.Error("关闭清洗线上料请求信号失败", "address", addr.Addr.String(), "error", err)
		return err
	}
	return nil
}

// WaitCleaningReady 等待清洗线就绪信号（PLC M1146.1 = true）。
// 清洗线上料前必须等待此信号，表示流水线有位置可以放入工件。
func (c *Controller) WaitCleaningReady(ctx context.Context) error {
	addr := preload.GetMAddress("CleaningReady")
	slog.Info("等待清洗线就绪信号", "address", addr.Addr.String())
	if err := c.WaitSignal(ctx, addr, true, false); err != nil {
		return fmt.Errorf("等待清洗线就绪信号失败: %w", err)
	}
	return nil
}

func (c *Controller) StartupCleanLine(ctx context.Context) error {
	addr := preload.GetMAddress("CleaningStartup")
	if err := c.plcClient.WriteBool(addr.Addr.String(), true); err != nil {
		return fmt.Errorf("发送启动信号 %s 失败: %w", "CleaningStartup", err)
	}
	time.AfterFunc(2*time.Second, func() {
		_ = c.plcClient.WriteBool(addr.Addr.String(), false)
	})
	return nil
}

func (c *Controller) IsCleanLineDone(ctx context.Context) (bool, error) {
	addr := preload.GetMAddress("CleaningDone")
	result, err := c.plcClient.ReadBool(addr.Addr.String())
	if err != nil {
		return false, fmt.Errorf("读取清洗线完成信号 %s 失败: %w", "CleaningDone", err)
	}
	return result, nil
}