package robot

import (
	"context"
	"strings"

	"bj_power_mes/internal/plc"
	"bj_power_mes/internal/preload"
)

// StartScanCode 启动扫码
// workpieceType 工件类型
// round 扫码轮次
func (c *Controller) StartScanCode(ctx context.Context, workpieceType int, round int) error {
	return c.executeAction(ctx, "StartScanCode",
		newArg(int8(workpieceType)),
		newArg(int8(round)),
		newArg(int16(round)),
		newArg(int32(0)),
	)
}

// ReadScanCodeData 读取扫码数据
// 返回PLC中32字节的扫码内容，按ASCII字符串解释；读取失败返回错误
func (m *Manager) ReadScanCodeData(ctx context.Context) (string, error) {
	pc := m.plcManager.GetPlc()
	if pc == nil {
		return "", plc.ErrNotConnect
	}

	addr := preload.GetMAddress("ScanCodeData")
	bs, err := pc.Read(addr.Address(), 32)
	if err != nil {
		return "", err
	}
	// 去除尾部的\x00
	i := len(bs)
	for i > 0 && bs[i-1] == 0 {
		i--
	}
	result := string(bs[:i])
	return strings.TrimSpace(result), nil
}

// ClearScanCodeData 清除扫码数据
func (m *Manager) ClearScanCodeData(ctx context.Context) error {
	pc := m.plcManager.GetPlc()
	if pc == nil {
		return plc.ErrNotConnect
	}

	addr := preload.GetMAddress("ScanCodeData")
	if err := pc.Write(addr.Address(), make([]byte, 32)); err != nil {
		return err
	}
	return nil
}