//
// Created by huli on 2021/3/24.
//

#ifndef NNXX_TESTS_DISPATCH_COORDINATES_H
#define NNXX_TESTS_DISPATCH_COORDINATES_H

#include "../error_code/error_code.h"
#include "../dispatch/dispatch_parameter.pb.h"
#include "../tool/singleton.h"
#include "../tool/point3D_tool.h"
#include <glog/logging.h>
#include <map>

//调度的坐标系
class Dispatch_coordinates:public Singleton<Dispatch_coordinates>
{
// 子类必须把父类设定为友元函数，这样父类才能使用子类的私有构造函数。
   friend class Singleton<Dispatch_coordinates>;

public:
#define DISPATCH_COORDINATES_PARAMETER_PATH "../setting/dispatch_coordinates.prototxt"


private:
 // 父类的构造函数必须保护，子类的构造函数必须私有。
   Dispatch_coordinates();
public:
    //必须关闭拷贝构造和赋值构造，只能通过 get_instance 函数来进行操作唯一的实例。
    Dispatch_coordinates(const Dispatch_coordinates& other) = delete;
    Dispatch_coordinates& operator =(const Dispatch_coordinates& other) = delete;
    ~Dispatch_coordinates();
public://API functions
	//初始化 调度的坐标系 模块。如下三选一
	virtual Error_manager dispatch_coordinates_init();
	//初始化 调度的坐标系 模块。从文件读取
	Error_manager dispatch_coordinates_init_from_protobuf(std::string prototxt_path);
	//初始化 调度的坐标系 模块。从protobuf读取
	Error_manager dispatch_coordinates_init_from_protobuf(Dispatch_proto::Dispatch_coordinates_parameter_all& dispatch_coordinates_parameter_all);
public://get or set member variable


protected://member functions

public://member variable

	//楼上车位的坐标 1~165
	std::map<int, Point3D_tool::Point3D>	m_packspace_coordinates;

	//一楼出入口的坐标 1100~1107
	std::map<int, Point3D_tool::Point3D>	m_passageway_coordinates;

	//搬运器在2~4楼交界处 的坐标 1201~1206 1301~1306 1401~1406
	//搬运器在电梯井的坐标 2101~2112 2201~2212
	//机器手在一楼出入口的坐标 1100 和 1107
	std::map<int, Point3D_tool::Point3D>	m_carrier_coordinates;

	//机器手在2~4楼交界处 的坐标 1201~1206 1301~1306 1401~1406
	//机器手在一楼出入口的坐标 1101~1106
	std::map<int, Point3D_tool::Point3D>	m_catcher_coordinates;


	Point3D_tool::Point3D_box				m_carrier_box;//搬运器 限定范围
	Point3D_tool::Point3D_box				m_catcher_box;//机器手 限定范围

	float									m_catcher_b_min;
	float									m_catcher_b_max;
	float									m_catcher_d1_min;
	float									m_catcher_d1_max;
	float									m_catcher_d2_min;
	float									m_catcher_d2_max;


	float 									m_default_wheelbase;		//默认轴距 2700mm

	float 									m_catcher_1th_floor_z;			//机器手在1楼的z周高度, 1
	float 									m_catcher_2th_floor_z;			//机器手在2楼的z周高度, 2620
	float 									m_catcher_3th_floor_z;			//机器手在3楼的z周高度, 5220
	float 									m_catcher_4th_floor_z;			//机器手在4楼的z周高度, 5410

	float 									m_carrier_1th_floor_z;			//搬运器在1楼的z周高度, 1
	float 									m_carrier_2th_floor_z;			//搬运器在2楼的z周高度, 2525
	float 									m_carrier_3th_floor_z;			//搬运器在3楼的z周高度, 5125
	float 									m_carrier_4th_floor_z;			//搬运器在4楼的z周高度, 7725

	float									m_catcher_d1_d2_distance;		//机器手2D1-2D2零位间距1903mm
	float									m_catcher_wheel_base_limit;		//机器手下降过程中的轮距限制 3000mm

	float									m_carrier_y_y1_distance;		//小跑车 y-y1的间距1500mm
	float									m_carrier_default_y1_back;		//小跑车的默认y1, 回到中跑车 4500mm
	float									m_carrier_default_y1_leave;		//小跑车的默认y1, 离开中跑车 10500mm
	float									m_carrier_default_y_back;		//小跑车的默认y, 回到中跑车 3000mm
	float									m_carrier_default_y_leave;		//小跑车的默认y, 离开中跑车 9000mm

	float									m_carrier_default_x_left;		//中跑车的默认x, 左侧电梯井 1mm
	float									m_carrier_default_x_right;		//中跑车的默认x, 左侧电梯井 32600mm

private:

};


#endif //NNXX_TESTS_DISPATCH_COORDINATES_H