using EGFramework;

/// <summary>
/// 检测串口对应的空轨驱动器，或是颜色传感器，检测后记录到串口列表中
/// </summary>
public class ModelSerialTest : EGModule,IEGFramework
{
    public const int BAUD_RATE_ENGINE = 9600;
    public const int BAUD_RATE_COLOR = 38400;

    public const string PORT_LINUX = "/dev/ttyUSB0";

    public const string PORT_WIN = "COM2";

    public bool IsLinux = true;

    public string TestPort { set; get; } = PORT_LINUX;
    public string ColorSerialPort { set; get; } = "";
    public string EngineSerialPort { set; get; } = "";

    public IUnRegister ColorSensorInitEvent { set; get; }

    public IUnRegister EngineInitEvent{ set; get; }

    public override void Init()
    {;
        this.EGOnMessage<ResponseTarget>();
        if (!IsLinux)
        {
            TestPort = PORT_WIN;
        }
        InitSerialPort();
        // throw new NotImplementedException();
    }

    public async void InitSerialPort()
    {
        this.EGSerialPort().Open(TestPort, 9600);
        this.EGSendMessage(new RequestTargetReadEnabled(), TestPort, ProtocolType.SerialPort);
        EngineInitEvent = this.EGRegisterMessageEvent<ResponseTarget>(OnEngineInit);
        await Task.Delay(2000);
        if(EngineSerialPort == "")
        {
            this.EGSerialPort().Close(TestPort);
            EG.Print("Engine init failed USB,Time out.");
        }
    }

    public void OnEngineInit(ResponseTarget res,string sender,ProtocolType type)
    {
        if (type == ProtocolType.SerialPort)
        {
            EngineInitEvent.UnRegister();
            this.EngineSerialPort = sender;
            EG.Print("Engine sensor init success!");
            // this.GetModule<ModelTrackControl>().ResetTrack();
        }
    }

}