#include "PowerManagerFsm.hpp"


void WaterBasedReady::entry() {
    PowerManagerFsm::entry();
    pm->workCondition = WorkCondition::CHANING;
    PowerManagerFsm::handleCuriseWork();
    //启动水声设备
    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
    pm->m_upperCommManager->processPeriodicTasks();
    pm->workCondition = WorkCondition::WATER_BASED_READY;
    LOG_F(INFO, "进入水中备航状态");
}

// WaterBasedReady实现
void WaterBasedReady::react(MasterCommandEvent const &) {
    PowerManagerFsm::handelPowerCmd();
    PowerManagerFsm::handleModCmd();
    PowerManagerFsm::handleWorkCmd();
}

void WaterBasedReady::react(DevCmdExt const &e)
{
    int id = e.id;
    int cmd = e.cmd;
    if(underWterDevices.find(id) != underWterDevices.end())
    {
        if (pm->currentMod  != PMMode::Debug)
        {
            if(pm->m_depth < OVER_DEPTH)
            {
                LOG_F(INFO, "水下设备操作上电保护 %d ", id);
                return;
            }
        }
        // 如果是前视声纳断电则先关机再断电
        if(id == DeviceId::forwardSonar)
        {
            if(cmd == 0)
            {
                LOG_F(INFO,"前视声纳关机指令");
                pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
                MOOSPause(10000);
            }
        }
        LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
    }
    else
    {
        if(pm->currentMod == PMMode::Normal)
        {
            LOG_F(INFO,"正常模式:操作禁止");
            return;
        }
        else
        {
            PowerManagerFsm::react(e);
        }
    }
}