/**
 * space_server 机器人管理。
 *
 * © 2020 成都河狸智能科技有限责任公司。保留所有权利。
 *
 * 作者: zhq1229
 */

#ifndef __ROBOT_H__
#define __ROBOT_H__

#include <space_lib/space_lib.h>
#include "task/task.h"

using RobotId = unsigned int;

namespace robot {

enum RobotState {
    INIT = 0,
    PROTCET,
    IDLE,
    WORKING,
    FAULT,
    LOW_POWER,
    SCANNING,
    __ROBOT_STATE_SIZE,
};

enum LocateMode {
    QUIT = 0,
    FAST,
    EXACT,
    CALIBRATION
};

struct BatteryInfo {
    BatteryInfo():
        soc(0.0f),
        voltage(0.0f),
        current(0.0f),
        is_charging(false) {}

    float soc;
    float voltage;
    float current;
    bool is_charging;
};

struct PositionInfo {
    PositionInfo():
        map_id(0),
        locate_map_id(0),
        x(0.0f),
        y(0.0f),
        yaw(0.0f),
        is_located(false),
        p_ts(0) {}

    MapId map_id;
    MapId locate_map_id;
    float x;
    float y;
    float yaw;
    bool is_located;
    unsigned long long p_ts;
};

struct BasicInfo {
    BasicInfo():
        max_x(0.0f),
        max_y(0.0f),
        max_yaw(0.0f) {}

    float max_x;
    float max_y;
    float max_yaw;
};

struct ScanInfo {
    ScanInfo():
        map_id(0),
        is_scaning(false),
        name(""),
        floor(0),
        width(0),
        height(0),
        x_origin(0.0f),
        y_origin(0.0f),
        resolution(0.0f),
        occupied_thresh(0.65f),
        free_thresh(0.196f),
        map_resolution("0.05") {}

    MapId map_id;
    bool is_scaning;
    std::string name;
    int floor;
    int width;
    int height;
    float x_origin;
    float y_origin;
    float resolution;
    float occupied_thresh;
    float free_thresh;
    std::string map_resolution;
};

struct RobotInfo {
    RobotInfo():
        id(0),
        name("null"),
        addr("null"),
        info("null"),
        state(IDLE),
        emcy(0) {}

    RobotId id;
    std::string name;
    std::string addr;
    std::string info;
    RobotState state;
    unsigned int emcy;  // [0:0]-急停  [1:1]-调度急停  [2:2]-通信中断急停  [8:15]-客户急停
    BatteryInfo battery;
    PositionInfo position;
    BasicInfo basic;
    ScanInfo scan;
    Json::Value additional;
};

struct Pose {
    Pose(float xi, float yi, float thetai) : 
        x(xi),y(yi),theta(thetai) {}
    Pose() = default;
    float x;
    float y;
    float theta;
};

int setVel(float x, float y, float yaw);
int setEmcy(unsigned int emcy);
int quitEmcy(unsigned int emcy);
int setLocate(MapId map_id, int mode, float x, float y, float yaw);
int quitLocate();
int setScan(std::string name, int floor);
int quitScan();
int setAdditional(std::string key, Json::Value &value);
RobotInfo robotInfo();
RobotId robotId();
RobotState robotState();
MapId robotMapId();
MapId scanId();
PositionInfo positionInfo();
bool isCharging();
Json::Value additionalInfo();
int init(Json::Value &conf);
int shutdown();

Pose globalTransLocal(Pose a, Pose b);
Pose localTransGlobal(Pose a, Pose b);
Pose clcTrans(Pose a, Pose b);
Pose trans();

}  // namespace robot

#endif  // __ROBOT_H__