//
// Created by huli on 2021/3/2.
//

#ifndef NNXX_TESTS_CATCHER_TASK_H
#define NNXX_TESTS_CATCHER_TASK_H

#include "../error_code/error_code.h"
#include "../task/task_command_manager.h"
#include "../task/task_base.h"
#include <mutex>
#include "../tool/common_data.h"

class Catcher_task:public Task_Base
{
public:
	//指令完成状态, 搬运器答复指令, 返回任务完成的情况
	enum Respons_status
	{
		RESPONS_WORKING             = 0,    //正常
		RESPONS_OVER               	= 1,    //任务完成
		RESPONS_MINOR_ERROR			= 100,	//一般故障, 可恢复
		RESPONS_CRITICAL_ERROR		= 101,	//致命故障,不可恢复
	};

	//抓车的夹杆
	enum Clamp_motion
	{
		E_CLAMP_NO_ACTION            	= 0,    //无动作.
		E_CLAMP_TIGHT               	= 1,    //夹紧夹杆
		E_CLAMP_LOOSE					= 2,	//松开夹杆
	};

public:
	Catcher_task();
	Catcher_task(const Catcher_task& other)= default;
	Catcher_task& operator =(const Catcher_task& other)= default;
	~Catcher_task();
public://API functions

public://get or set member variable

protected://member functions

protected://member variable


public:
	std::mutex							m_lock;	//锁
	int 								m_step;//长流程细分为短流程, m_step 控制短流程的步骤
	Common_data::Dispatch_process_type		m_dispatch_process_type;	//调度任务类型

	//调度下发到plc
	std::string							m_request_key;				//请求唯一码, 用作识别
	//请求的目标坐标和动作
	float 								m_request_x;				//机器人坐标x轴,
	float 								m_request_y;				//机器人坐标y轴,
	float 								m_request_b;				//机器人坐标b轴, 旋转范围80~280
	float 								m_request_z;				//机器人坐标z轴,
	int 								m_request_space_id;			//机器人空间位置的id.
	float 								m_request_d1;				//机器人坐标d1轴, 机器人抓车杆纵向移动(前轮抓杆)
	float 								m_request_d2;				//机器人坐标d2轴, 机器人抓车杆纵向移动(后轮抓杆)
	float 								m_request_wheelbase;		//机器人抓车杆前后轮距.
	Clamp_motion						m_request_clamp_motion;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开


	//plc反馈给调度
	std::string							m_respons_key;				//应答的唯一码, 用作识别
	Respons_status						m_respons_status;			//指令完成状态, 机器人答复指令, 返回任务完成的情况
	//答复的实际坐标和动作
	float 								m_respons_x;				//机器人坐标x轴,
	float 								m_respons_y;				//机器人坐标y轴,
	float 								m_respons_b;				//机器人坐标b轴, 旋转范围80~280
	float 								m_respons_z;				//机器人坐标z轴,
	int 								m_respons_space_id;			//机器人空间位置的id.
	float 								m_respons_d1;				//机器人坐标d1轴, 机器人抓车杆纵向移动(前轮抓杆)
	float 								m_respons_d2;				//机器人坐标d2轴, 机器人抓车杆纵向移动(后轮抓杆)
	float 								m_respons_wheelbase;		//机器人抓车杆前后轮距.
	Clamp_motion						m_respons_clamp_motion;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开

};


#endif //NNXX_TESTS_Catcher_task_H