#include "PowerManagerFsm.hpp"
#include "PowerManger.h"
#include <string>
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"

// 定义静态成员
PowerManger* PowerManagerFsm::pm = nullptr;

// InitState实现
void InitState::entry() {
    PowerManagerFsm::entry();
    std::cout << "==========================="  << std::endl;
    // PowerManagerFsm::pm->m_pmEvent = "初始化状态";
    PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
}

void InitState::react(InitEvent const &) {
    // double StartTime = PowerManagerFsm::pm->GetAppStartTime();
    std::cout << "开始初始化" << std::endl;
    double StartTime = 0;
    while (PowerManagerFsm::pm->connectState < 5) {
        MOOSPause(1000);
        PowerManagerFsm::pm->updateTime();
        double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
        if(dft > 10) {
            transit<FaultState>();
            PowerManagerFsm::pm->m_faultNum = 1;
            return;
        }
        string desp = "等待复合管控消息 : " + to_string(10-dft);
        PowerManagerFsm::pm->printState("InitState", desp);
    }

    if(PowerManagerFsm::pm->checkError() < 0) {
        transit<FaultState>();
        PowerManagerFsm::pm->m_faultNum = 2;
        return;
    }

    PowerManagerFsm::pm->initControlCmd();

    while (true) {
        if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
            transit<StandbyState>();
            return;
        }
        PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
        MOOSPause(1000);
        PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
    }
    std::cout << "InitState: 初始化完成" << std::endl;
    //转换到待机状态
    transit<StandbyState>();
}

// StandbyState实现
void StandbyState::entry() {
    PowerManagerFsm::entry();
    PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
}

void StandbyState::react(StandbyEvent const &) {
    while (true) {
        if(PowerManagerFsm::pm->checkError() < 0) {
            transit<FaultState>();
            return;
        }
        handlePowerCommands();
        MOOSPause(1000);
    }
}

void StandbyState::handlePowerCommands() {
    switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
        case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
        case 1: handlePowerOn(); break;
    }
}

void StandbyState::handlePowerOn() {
    PowerManagerFsm::pm->m_pmEvent = "动力电上电";
    PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
    if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
        PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
}

// FaultState实现
void FaultState::entry() {
    PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
}

void FaultState::react(FaultEvent const & e) {
    switch (e.faultCode) {
        case 1: 
            PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
            PowerManagerFsm::pm->printState("FaultState", "通信故障");
            break;
        case 2:
            PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
            PowerManagerFsm::pm->printState("FaultState", "能源故障");
            break;
    }
}

// 设置初始状态
FSM_INITIAL_STATE(PowerManagerFsm, InitState);