// PageRobotCmd.cpp: 实现文件
//

#include "stdafx.h"
#include "Servo.h"
#include "afxdialogex.h"
#include "PageRobotCmd.h"


// CPageRobotCmd 对话框

std::map<CString, int> g_deviceSlotCount = {
	{_T("PORT 1"), 1},
	{_T("PORT 2"), 1},
	{_T("PORT 3"), 1},
	{_T("PORT 4"), 1},
	{_T("RB1"), 1},
	{_T("RB2"), 1},
	{_T("ALIGN"), 1},
	{_T("FLIP"), 1},
	{_T("VAC BAKE"), 2},
	{_T("BONDER1"), 2},
	{_T("BONDER2"), 2},
	{_T("POST BAKE(COOLING)"), 4},
	{_T("MEASUREMENT"), 1}
};

static const std::map < SERVO:: RCMD, RCMDFieldMask > g_cmdFieldMap = {
	{ SERVO::RCMD::Robot_home, { false, false, false, false, false, false } },
	{ SERVO::RCMD::Transfer,   { true, true, true, true, true, false } },
	{ SERVO::RCMD::Move,       { true, true, true, true, true, true } },
	{ SERVO::RCMD::Get,        { true, true, false, true, false, false } },
	{ SERVO::RCMD::Put,        { true, false, true, false, true, false } },
	{ SERVO::RCMD::One_Action_Exchange, { true, true, true, true, true, false } },
	{ SERVO::RCMD::Two_Action_Exchange, { true, true, true, true, true, false } },
	{ SERVO::RCMD::Command_Clear, { false, false, false, false, false, false } },
	{ SERVO::RCMD::Batch_get, { false, true, false, true, false, false } },
	{ SERVO::RCMD::Batch_put, { false, false, true, false, true, false } }
};

IMPLEMENT_DYNAMIC(CPageRobotCmd, CDialogEx)

CPageRobotCmd::CPageRobotCmd(CWnd* pParent /*=nullptr*/)
	: CDialogEx(IDD_PAGE_ROBOT_CMD, pParent)
{
	m_nSequenceNo = -1;
	m_nRcmd = -1;
	m_nArmNo = -1;
	m_nGetPosition = -1;
	m_nPutPosition = -1;
	m_nGetSlotNo = -1;
	m_nPutSlotNo = -1;
	m_nSubCmd = -1;
}

CPageRobotCmd::~CPageRobotCmd()
{
}

void CPageRobotCmd::SetSequenceNo(int nSeq)
{
	m_nSequenceNo = nSeq;

	if (CEdit* pEdit = (CEdit*)GetDlgItem(IDC_EDIT_SEQ_NO)) {
		CString str;
		str.Format(_T("%d"), m_nSequenceNo);
		pEdit->SetWindowText(str);
	}
}

BOOL CPageRobotCmd::SetControlsEnabled(BOOL bEnable)
{
	if (!IsWindow(m_hWnd)) {
		return FALSE;
	}

	if (bEnable) {
		UpdateData(TRUE);
		UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
	}
	else {
		// 遍历所有子控件并设置状态
		CWnd* pChild = GetWindow(GW_CHILD);
		while (pChild) {
			pChild->EnableWindow(bEnable);
			pChild = pChild->GetNextWindow();
		}
	}

	return CDialogEx::EnableWindow(bEnable);
}

SERVO::ROBOT_CMD_PARAM CPageRobotCmd::GetRobotCmdParam()
{
	if (!IsWindow(m_hWnd)) {
		return {};
	}
	UpdateData(TRUE);  // 同步 UI 到变量

	SERVO::ROBOT_CMD_PARAM param = {};
	param.sequenceNo = static_cast<short>(m_nSequenceNo);
	param.rcmd = static_cast<short>(m_nRcmd + 1);

	const auto it = g_cmdFieldMap.find(static_cast<SERVO::RCMD>(param.rcmd));
	if (it == g_cmdFieldMap.end()) {
		return {};
	}

	const RCMDFieldMask& mask = it->second;
	if (mask.useArm)       param.armNo = static_cast<short>(m_nArmNo + 1);
	if (mask.useGetPos)    param.getPosition = static_cast<short>(m_nGetPosition + 1);
	if (mask.usePutPos)    param.putPosition = static_cast<short>(m_nPutPosition + 1);
	if (mask.useGetSlot)   param.getSlotNo = static_cast<short>(m_nGetSlotNo + 1);
	if (mask.usePutSlot)   param.putSlotNo = static_cast<short>(m_nPutSlotNo + 1);
	if (mask.useSubCmd)    param.subCmd = static_cast<short>(m_nSubCmd + 1);

	// 特殊命令处理
	const auto enRcmd = static_cast<SERVO::RCMD>(m_nRcmd + 1);
	if (SERVO::RCMD::Move == enRcmd) {
		if (m_nSubCmd == 0) {
			param.putPosition = 0;
			param.putSlotNo = 0;
		}
		else if (m_nSubCmd == 1) {
			param.getPosition = 0;
			param.getSlotNo = 0;
		}
	}
	else if (SERVO::RCMD::Batch_get == enRcmd || SERVO::RCMD::Batch_put == enRcmd) {
		param.armNo = ARM_ALL;
	}

	return param;
}

void CPageRobotCmd::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
	DDX_Text(pDX, IDC_EDIT_SEQ_NO, m_nSequenceNo);
	DDX_CBIndex(pDX, IDC_COMBO_RCMD, m_nRcmd);
	DDX_Radio(pDX, IDC_RADIO_ARM_A, m_nArmNo);
	DDX_CBIndex(pDX, IDC_COMBO_GET_POS, m_nGetPosition);
	DDX_CBIndex(pDX, IDC_COMBO_PUT_POS, m_nPutPosition);
	DDX_CBIndex(pDX, IDC_COMBO_GET_SLOT, m_nGetSlotNo);
	DDX_CBIndex(pDX, IDC_COMBO_PUT_SLOT, m_nPutSlotNo);
	DDX_CBIndex(pDX, IDC_COMBO_SUB_CMD, m_nSubCmd);
}


BEGIN_MESSAGE_MAP(CPageRobotCmd, CDialogEx)
	ON_CBN_SELCHANGE(IDC_COMBO_RCMD, &CPageRobotCmd::OnCbnSelchangeComboRcmd)
	ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CPageRobotCmd::OnCbnSelchangeComboGetPos)
	ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CPageRobotCmd::OnCbnSelchangeComboPutPos)
	ON_CBN_SELCHANGE(IDC_COMBO_SUB_CMD, &CPageRobotCmd::OnCbnSelchangeComboSubCmd)
END_MESSAGE_MAP()


// CPageRobotCmd 消息处理程序

BOOL CPageRobotCmd::OnInitDialog()
{
	CDialogEx::OnInitDialog();

	// TODO:  在此添加额外的初始化
	// 初始化 RCMD 下拉框
	CComboBox* pComboRcmd = (CComboBox*)GetDlgItem(IDC_COMBO_RCMD);
	pComboRcmd->AddString(_T("Robot_home"));           // 1
	pComboRcmd->AddString(_T("Transfer"));             // 2
	pComboRcmd->AddString(_T("Move"));                 // 3
	pComboRcmd->AddString(_T("Get"));                  // 4
	pComboRcmd->AddString(_T("Put"));                  // 5
	pComboRcmd->AddString(_T("One_Action_Exchange"));  // 6
	pComboRcmd->AddString(_T("Two_Action_Exchange"));  // 7
	pComboRcmd->AddString(_T("Command_Clear"));        // 8
	pComboRcmd->AddString(_T("Batch_get"));            // 9
	pComboRcmd->AddString(_T("Batch_put"));            // 10
	pComboRcmd->SetCurSel(0);

	// 初始化设备名称下拉框（Get/Put Position）
	CStringList eqNameList;
	eqNameList.AddTail(_T("PORT 1"));				// 1 1 UNIT
	eqNameList.AddTail(_T("PORT 2"));				// 2 1 UNIT
	eqNameList.AddTail(_T("PORT 3"));				// 3 1 UNIT
	eqNameList.AddTail(_T("PORT 4"));				// 4 1 UNIT
	eqNameList.AddTail(_T("RB1"));					// 5 1 UNIT
	eqNameList.AddTail(_T("RB2"));					// 6 1 UNIT
	eqNameList.AddTail(_T("ALIGN"));				// 7 1 UNIT
	eqNameList.AddTail(_T("FLIP"));					// 8 1 UNIT
	eqNameList.AddTail(_T("VAC BAKE"));				// 9 2 UNIT
	eqNameList.AddTail(_T("BONDER1"));				// 10 2 UNIT
	eqNameList.AddTail(_T("BONDER2"));				// 11 2 UNIT
	eqNameList.AddTail(_T("POST BAKE(COOLING)"));	// 12 4 UNIT
	eqNameList.AddTail(_T("MEASUREMENT"));			// 13 1 UNIT

	CComboBox* pComboGetPos = (CComboBox*)GetDlgItem(IDC_COMBO_GET_POS);
	CComboBox* pComboPutPos = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_POS);
	CComboBox* pComboGetSlot = (CComboBox*)GetDlgItem(IDC_COMBO_GET_SLOT);
	CComboBox* pComboPutSlot = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_SLOT);

	for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
		CString item = eqNameList.GetNext(pos);
		pComboGetPos->AddString(item);
		pComboPutPos->AddString(item);
	}

	pComboGetPos->SetCurSel(0);
	pComboPutPos->SetCurSel(0);
	UpdateSlotList(pComboGetPos, pComboGetSlot);
	UpdateSlotList(pComboPutPos, pComboPutSlot);

	// 初始化 Sub CMD 下拉框
	CComboBox* pComboSubCmd = (CComboBox*)GetDlgItem(IDC_COMBO_SUB_CMD);
	pComboSubCmd->AddString(_T("1: Get Ready"));
	pComboSubCmd->AddString(_T("2: Put Ready"));
	pComboSubCmd->SetCurSel(0);

	// 初始化 ARM 单选框
	CButton* pRadioArmA = (CButton*)GetDlgItem(IDC_RADIO_ARM_A);
	CButton* pRadioArmB = (CButton*)GetDlgItem(IDC_RADIO_ARM_B);
	pRadioArmA->SetCheck(BST_CHECKED);
	pRadioArmB->SetCheck(BST_UNCHECKED);

	// 初始化输入控件状态
	UpdateInputUI(SERVO::RCMD::Robot_home);

	return TRUE;  // return TRUE unless you set the focus to a control
	// 异常: OCX 属性页应返回 FALSE
}

void CPageRobotCmd::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
	if (pComboDevice == nullptr || pComboSlot == nullptr) { 
		return;
	}

	int nSelIndex = pComboDevice->GetCurSel();
	if (nSelIndex < 0) { 
		return;
	}

	CString strDeviceName;
	pComboDevice->GetLBText(nSelIndex, strDeviceName);

	int nMaxSlot = 1; // 默认槽位数
	auto it = g_deviceSlotCount.find(strDeviceName);
	if (it != g_deviceSlotCount.end()) {
		nMaxSlot = it->second;
	}

	// 清空并添加槽号
	pComboSlot->ResetContent();
	for (int i = 1; i <= nMaxSlot; ++i) {
		CString str;
		str.Format(_T("%d"), i);
		pComboSlot->AddString(str);
	}

	pComboSlot->SetCurSel(0);
}

void CPageRobotCmd::UpdateMoveSubFields()
{
	UpdateData(TRUE);
	if (SERVO::RCMD::Move == static_cast<SERVO::RCMD>(m_nRcmd + 1)) {
		const bool bMoveToGet = (m_nSubCmd == 0); // Move to Get
		const bool bMoveToPut = (m_nSubCmd == 1); // Move to Put

		GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(bMoveToGet);
		GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(bMoveToGet);
		GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(bMoveToPut);
		GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(bMoveToPut);
	}
}

void CPageRobotCmd::UpdateInputUI(SERVO::RCMD cmd)
{
	const auto it = g_cmdFieldMap.find(cmd);
	if (it == g_cmdFieldMap.end()) {
		return;
	}

	const RCMDFieldMask& mask = it->second;
	GetDlgItem(IDC_EDIT_SEQ_NO)->EnableWindow(TRUE);
	GetDlgItem(IDC_COMBO_RCMD)->EnableWindow(TRUE);
	GetDlgItem(IDC_RADIO_ARM_A)->EnableWindow(mask.useArm);
	GetDlgItem(IDC_RADIO_ARM_B)->EnableWindow(mask.useArm);
	GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
	GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
	GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
	GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
	GetDlgItem(IDC_COMBO_SUB_CMD)->EnableWindow(mask.useSubCmd);

	// 特殊处理 Move 类型
	UpdateMoveSubFields();
}

void CPageRobotCmd::OnCbnSelchangeComboRcmd()
{
	UpdateData(TRUE);
	UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
}

void CPageRobotCmd::OnCbnSelchangeComboGetPos()
{
	CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_GET_POS);
	CComboBox* pSlot = (CComboBox*)GetDlgItem(IDC_COMBO_GET_SLOT);
	UpdateSlotList(pDevice, pSlot);

	GetRobotCmdParam();
}

void CPageRobotCmd::OnCbnSelchangeComboPutPos()
{
	CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_POS);
	CComboBox* pSlot = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_SLOT);
	UpdateSlotList(pDevice, pSlot);
}

void CPageRobotCmd::OnCbnSelchangeComboSubCmd()
{
	UpdateMoveSubFields();
}