#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"


namespace SERVO {
	CRobotTask::CRobotTask()
	{
		generateId(m_strId);
		m_state = ROBOT_TASK_STATE::Ready;
		m_timeCreate = CToolUnits::getTimestamp();
		m_timeFetchOut = 0;
		m_timeStored = 0;
		m_timeFinish = 0;
		m_pContext = nullptr;
	}

	CRobotTask::~CRobotTask()
	{
		if (m_pContext != nullptr) {
			m_pContext->release();
			m_pContext = nullptr;
		}
	}

	std::string CRobotTask::getDescription() const
	{
		std::string strOut = "CRobotTask<ID:";
		strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
		strOut = strOut + ",Arm:";
		strOut = strOut + std::to_string(m_robotCmdParam.armNo);
		strOut = strOut + ",GetPossion:";
		strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
		strOut = strOut + ",GetSlot:";
		strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
		strOut = strOut + ",PutPossion:";
		strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
		strOut = strOut + ",PutSlot:";
		strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
		strOut = strOut + ">";

		return strOut;
	}

	std::string CRobotTask::getSimpleDescription() const
	{
		std::string strOut = "CRobotTask<ID:";
		strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
		strOut = strOut + ",Arm:";
		strOut = strOut + std::to_string(m_robotCmdParam.armNo);
		strOut = strOut + ",GetPossion:";
		strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
		strOut = strOut + ",GetSlot:";
		strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
		strOut = strOut + ",PutPossion:";
		strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
		strOut = strOut + ",PutSlot:";
		strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
		strOut = strOut + ">";

		return strOut;
	}

	void CRobotTask::setContext(CContext* pContext)
	{
		if (m_pContext != nullptr) {
			m_pContext->release();
		}

		m_pContext = pContext;
		if (m_pContext != nullptr) {
			m_pContext->addRef();
		}
	}

	CContext* CRobotTask::getContext()
	{
		return m_pContext;
	}

	std::string& CRobotTask::generateId(std::string& out)
	{
		char szBuffer[256];
		CTime time = CTime::GetCurrentTime();
		__int64 nTick = 0;
		QueryPerformanceCounter((LARGE_INTEGER*)&nTick);
		sprintf_s(szBuffer, 256, "%d%02d%02d%02d%02d%02d%010llu", time.GetYear(),
			time.GetMonth(), time.GetDay(), time.GetHour(), time.GetMinute(), time.GetSecond(),
			nTick % 10000000000);
		out = szBuffer;

		return out;
	}

	std::string& CRobotTask::getId()
	{
		return m_strId;
	}

	void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
	{
		m_robotCmdParam = {};
		m_robotCmdParam.sequenceNo = static_cast<short>(seq);
		m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
		m_robotCmdParam.armNo = static_cast<short>(armNo);
		m_robotCmdParam.getPosition = static_cast<short>(fromPos);
		m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
		m_robotCmdParam.putPosition = static_cast<short>(toPos);
		m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
	}

	ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
	{
		return m_robotCmdParam;
	}

	time_t CRobotTask::getCreateTime()
	{
		return m_timeCreate;
	}

	time_t CRobotTask::getFetchoutTime()
	{
		return m_timeFetchOut;
	}

	time_t CRobotTask::getStoredTime()
	{
		return m_timeStored;
	}

	time_t CRobotTask::getFinishTime()
	{
		return m_timeFinish;
	}

	ROBOT_TASK_STATE CRobotTask::getState()
	{
		return m_state;
	}

	void CRobotTask::completed()
	{
		m_state = ROBOT_TASK_STATE::Completed;
	}

	void CRobotTask::error()
	{
		m_state = ROBOT_TASK_STATE::Error;
	}

	void CRobotTask::abort()
	{
		m_state = ROBOT_TASK_STATE::Abort;
	}

	int CRobotTask::getSrcPosition()
	{
		return m_robotCmdParam.getPosition;
	}

	int CRobotTask::getTarPosition()
	{
		return m_robotCmdParam.putPosition;
	}

	int CRobotTask::getSrcSlot()
	{
		return m_robotCmdParam.getSlotNo;
	}

	int CRobotTask::getTarSlot()
	{
		return m_robotCmdParam.putSlotNo;
	}

	void CRobotTask::fetchOut()
	{
		m_timeFetchOut = CToolUnits::getTimestamp();;
	}

	void CRobotTask::stored()
	{
		m_timeStored = CToolUnits::getTimestamp();;
	}
}