#include "card.h"
#include "axis.h"
#include "log.h"

using std::pair;

CardService* CardService:: m_pInstance = NULL;
CardService* CardService::GetInstance()
{
    if (!m_pInstance) m_pInstance = new CardService();
    return m_pInstance;
}

void CardService::ReleaseInstance()
{
    FREE_ANY(m_pInstance);
}

CardService::CardService(void)
{
    for(ushort i = 0; i < MAXCARD; i++)
    {
        m_pCard[i] = new CCard(i);
    }
}

CardService::~CardService(void)
{
    for(int i = 0; i < MAXCARD; i++)
    {
        FREE_ANY(m_pCard[i]);
    }
}

int CardService::OpenCard(ushort cardIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);
    return m_pCard[cardIndex]->Open();
}

int CardService::CloseCard(ushort cardIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);
    return m_pCard[cardIndex]->Close();
}

int CardService::GetStatus(ushort cardIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, EDev_NOINIT);
    return m_pCard[cardIndex]->_bOpened ? EDev_IDLE : EDev_NOINIT;
}

int CardService::AxisReset(ushort cardIndex, ushort axisIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisReset(axisIndex);
}

int CardService::AxisZeroPos(ushort cardIndex, ushort axisIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisZeroPos(axisIndex);
}

int CardService::AxisIsMoving(ushort cardIndex, ushort axisIndex)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, 0);
    return m_pCard[cardIndex]->AxisIsMoving(axisIndex);
}

int CardService::AxisStop(ushort cardIndex, ushort axisIndex, int stopType)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisStop(axisIndex, stopType);
}

int CardService::AxisSetSpeed(ushort cardIndex, ushort axisIndex, double vel)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisSetSpeed(axisIndex, vel);
}

int CardService::AxisGetPos(ushort cardIndex, ushort axisIndex, EMPosType postype, double* pval)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisGetPos(axisIndex, postype, pval);
}

int CardService::AxisSetPos(ushort cardIndex, ushort axisIndex, long pos)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisSetPos(axisIndex, pos);
}

int CardService::AxisHome(ushort cardIndex, ushort axisIndex, ushort homeType, long pos, long offset, double vel)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisHome(axisIndex, homeType, pos, offset, vel);
}

int CardService::AxisMoveJog(ushort cardIndex, ushort axisIndex, int dir, double vel, double acc, double dec)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisMoveJog(axisIndex, dir, vel, acc, dec);
}

int CardService::AxisMovePos(ushort cardIndex, ushort axisIndex, long pos, double vel, double acc, double dec)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisMovePos(axisIndex, pos, vel, acc, dec);
}

int CardService::AxisMoveOffset(ushort cardIndex, ushort axisIndex, long offset, double vel, double acc, double dec)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->AxisMoveOffset(axisIndex, offset, vel, acc, dec);
}

int CardService::ReadBit(ushort cardIndex, ushort in_index, short di_type)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, 0);
    return m_pCard[cardIndex]->ReadBit(in_index, (EIOType)di_type);
}

int CardService::ReadOutBit(ushort cardIndex, ushort out_index, short do_type)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, 0);
    return m_pCard[cardIndex]->ReadBit(out_index, (EIOType)do_type);
}

int CardService::WriteOutBit(ushort cardIndex, ushort out_index, ushort val, short do_type)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->WriteOutBit(out_index, val, (EIOType)do_type);
}

int CardService::ReadAdc(ushort cardIndex, ushort index, double* pval)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->ReadADC(index, pval);
}

int CardService::WriteAdc(ushort cardIndex, ushort index, double val)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->WriteADC(index, val);
}

int CardService::CreateCrd(ushort cardIndex, ushort *pAxisIndex, ushort axisCnt)
{
    int ret = 0;
    int index = 0;

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);

    ret = m_pCard[cardIndex]->CreateCrd(pAxisIndex, axisCnt, index);

    RETURN_CHK_NOPRT(!ret, ret);

    return cardIndex * MAXCRD + index;  //每张卡2个坐标系
}

int CardService::AddLinePos(int crdID, double *ppos, ushort nsize, double vel, double acc, double endvel)
{
    int index = 0;
    ushort cardIndex = 0;

    index = ConvertcrdIndex(cardIndex, crdID);

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);

    return m_pCard[cardIndex]->AddLinePos(index, ppos, vel, acc, endvel);
}

int CardService::AddArcPos(int crdID, double *ppos1, double *ppos2, double *ppos3, ushort nsize, double vel, double acc, double endvel)
{
    int index = 0;
    ushort cardIndex = 0;

    index = ConvertcrdIndex(cardIndex, crdID);

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);

    return m_pCard[cardIndex]->AddArcPos(index, ppos1, ppos2, ppos3, vel, acc, endvel);
}

int CardService::CrdStartMove(int crdID)
{
    int index = 0;
    ushort cardIndex = 0;

    index = ConvertcrdIndex(cardIndex, crdID);

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);

    return m_pCard[cardIndex]->CrdStartMove(index);
}

int CardService::CrdStatus(int crdID, int *progress)
{
    int index = 0;
    ushort cardIndex = 0;

    index = ConvertcrdIndex(cardIndex, crdID);

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, 0);

    return m_pCard[cardIndex]->CrdStatus(index, progress);
}

int CardService::CloseCrd(int crdID)
{
    int index = 0;
    ushort cardIndex = 0;

    index = ConvertcrdIndex(cardIndex, crdID);

    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_INPUT_PARAM);

    return m_pCard[cardIndex]->CloseCrd(index);
}

int CardService::SendCustomCommand(ushort cardIndex, const char* msg, char* res/* = 0*/)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->SendCustomCommand(msg, res);
}

int CardService::RecvCustomCommand(ushort cardIndex, const char* msg, char* res/* = 0*/, int timeout/* = 0*/)
{
    RETURN_CHK_NOPRT(cardIndex < MAXCARD, ERR_NO_INIT);
    return m_pCard[cardIndex]->RecvCustomCommand(msg, res, timeout);
}

const char* _pszcmddesc = 
    "固高控制卡插件所有自定义指令都是发送指令，不支持接收指令.\n"
    "*PS: 字段之间除了分隔符','以外不能有多余的空格.\n"
    "reset 重置状态\n"
    "pause 暂停\n"
    "continue 暂停恢复\n"
    "backlash axis,offset 设置负向间隙补偿,axis表示轴号从0开始;offset表示补偿量,为0时表示重置,单位:脉冲\n"
    "arrive axis,bon 设置某个轴是否检查到位信号.axis表示轴号从0开始;bon为1表示检查，否则不检查\n"
    "writeda index,val 设置某个通道的电压输出值. index表示通道从0开始;val表示电压值(小数)\n"
    ;

int CardService::GetCommandDesc(char* pszcmddesc)
{
    int len = (int)strlen(_pszcmddesc);

    if (!pszcmddesc) return len;

    comm_strcpy(pszcmddesc, _pszcmddesc);
    return len;
}