/****************************************************************/
/*   NAME:  Motor_Info                                          */
/*   FILE:  Motor_Info.cpp                                      */
/****************************************************************/

#include <cstdlib>
#include <iostream>
#include "Motor_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"

using namespace std;

void showSynopsis() {
  blk("SYNOPSIS:                                                       ");
  blk("------------------------------------                            ");
  blk("  The pMotor application is the propulsion motor operation     ");
  blk("  program. It talks to the motor controller over CAN (via      ");
  blk("  pCanBridge pass-through, default channel CAN1):              ");
  blk("  subscribes motor state/fault frames (CAN_0x*), sends the     ");
  blk("  500ms periodic command frame 0x18EF2010 (enable/reset/speed) ");
  blk("  via MOOS CAN_TX_0x*, and provides a web page for control     ");
  blk("  and monitoring. Protocol:                                    ");
  blk("  docs/推进电机通信协议20260321.docx.                    ");
  blk("                                                                ");
}

void showHelpAndExit() {
  blk("                                                                ");
  blu("=============================================================== ");
  blu("Usage: pMotor file.moos [OPTIONS]                          ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("Options:                                                        ");
  mag("  --alias","=<ProcessName>                                      ");
  blk("      Launch pMotor with the given process name          ");
  blk("      rather than pMotor.                                  ");
  mag("  --example, -e                                                 ");
  blk("      Display example MOOS configuration block.                 ");
  mag("  --help, -h                                                    ");
  blk("      Display this help message.                                ");
  mag("  --interface, -i                                               ");
  blk("      Display MOOS publications and subscriptions.              ");
  mag("  --version,-v                                                  ");
  blk("      Display the release version of pMotor.             ");
  blk("                                                                ");
  blk("Note: If argv[2] does not otherwise match a known option,       ");
  blk("      then it will be interpreted as a run alias. This is       ");
  blk("      to support pAntler launching conventions.                 ");
  blk("                                                                ");
  exit(0);
}

void showExampleConfigAndExit() {
  blk("                                                                ");
  blu("=============================================================== ");
  blu("pMotor Example MOOS Configuration                          ");
  blu("=============================================================== ");
  blk("                                                                ");
  blk("ProcessConfig = pMotor                                   ");
  blk("{                                                               ");
  blk("  AppTick   = 4                                                 ");
  blk("  CommsTick = 4                                                 ");
  blk("                                                                ");
  blk("  can_channel   = CAN1   // 电机 CAN 通道（pCanBridge 配置名）  ");
  blk("  red_channel   =        // 冗余 CAN 通道（空=不发冗余帧）       ");
  blk("  cmd_period_ms = 500    // 指令帧周期（协议 500ms）            ");
  blk("  reset_hold_sec= 5      // 复位位保持时长（秒）                 ");
  blk("  web_port      = 18081  // 网页端口(避开8080/8090/18080)        ");
  blk("  web_enable    = true   // 是否启用网页                        ");
  blk("  logpath       = pMotor.log // 日志路径                        ");
  blk("}                                                               ");
  blk("                                                                ");
  exit(0);
}

void showInterfaceAndExit() {
  blk("                                                                ");
  blu("=============================================================== ");
  blu("pMotor INTERFACE                                        ");
  blu("=============================================================== ");
  blk("                                                                ");
  showSynopsis();
  blk("                                                                ");
  blk("SUBSCRIPTIONS:                                                  ");
  blk("------------------------------------                            ");
  blk("  CAN_0x*            = pCanBridge 透传的 CAN 帧（电机状态/故障） ");
  blk("                                                                ");
  blk("PUBLICATIONS:                                                   ");
  blk("------------------------------------                            ");
  blk("  CAN_TX_0x18EF2010  = 主控指令帧（二进制 8 字节数据域，         ");
  blk("                        m_sSrcAux=CAN1，经 pCanBridge 下行）     ");
  blk("  CAN_TX_0x18EF2011  = 指令帧冗余（配置 red_channel 时发送）     ");
  blk("                                                                ");
  exit(0);
}

void showReleaseInfoAndExit() {
  showReleaseInfo("pMotor", "gpl");
  exit(0);
}