<template>
    <div class="robotic-arm-box">
        <div class="robotic-arm-status">
            <div class="coord-display">
                <div class="coord-item">
                    <div class="coord-key key-x">X</div>
                    <div class="coord-val" id="coordX">{{ pose.x?.toFixed(3) }}</div>
                </div>
                <div class="coord-item">
                    <div class="coord-key key-y">Y</div>
                    <div class="coord-val" id="coordY">{{ pose.y?.toFixed(3) }}</div>
                </div>
                <div class="coord-item">
                    <div class="coord-key key-z">Z</div>
                    <div class="coord-val" id="coordZ">{{ pose.z?.toFixed(3) }}</div>
                </div>
                <div class="coord-item">
                    <div class="coord-key key-x">RX</div>
                    <div class="coord-val" id="coordX">{{ pose.rx?.toFixed(3) }}</div>
                </div>
                <div class="coord-item">
                    <div class="coord-key key-y">RY</div>
                    <div class="coord-val" id="coordY">{{ pose.ry?.toFixed(3) }}</div>
                </div>
                <div class="coord-item">
                    <div class="coord-key key-z">RZ</div>
                    <div class="coord-val" id="coordZ">{{ pose.rz?.toFixed(3) }}</div>
                </div>
            </div>
        </div>

        <div class="axis-group">
            <!-- X Axis -->
            <div class="axis-row x">
                <div class="axis-label x">X</div>
                <div class="axis-slider-wrap">
                    <div class="axis-name">前后平移</div>
                    <div>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('x', '-')"
                            @mouseup="stop"
                            @touchstart.prevent="move('x', '-')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <Remove />
                            </el-icon>
                        </el-button>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('x', '+')"
                            @mouseup="stop"
                            @touchstart.prevent="move('x', '+')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <CirclePlus />
                            </el-icon>
                        </el-button>
                    </div>
                </div>
            </div>

            <!-- Y Axis -->
            <div class="axis-row y">
                <div class="axis-label y">Y</div>
                <div class="axis-slider-wrap">
                    <div class="axis-name">左右平移</div>
                    <div>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('y', '-')"
                            @mouseup="stop"
                            @touchstart.prevent="move('y', '-')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <Remove />
                            </el-icon>
                        </el-button>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('y', '+')"
                            @mouseup="stop"
                            @touchstart.prevent="move('y', '+')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <CirclePlus />
                            </el-icon>
                        </el-button>
                    </div>
                </div>
            </div>

            <!-- Z Axis -->
            <div class="axis-row z">
                <div class="axis-label z">Z</div>
                <div class="axis-slider-wrap">
                    <div class="axis-name">上下平移</div>
                    <div>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('z', '-')"
                            @mouseup="stop"
                            @touchstart.prevent="move('z', '-')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <Remove />
                            </el-icon>
                        </el-button>
                        <el-button
                            type="primary"
                            circle
                            @mousedown="move('z', '+')"
                            @mouseup="stop"
                            @touchstart.prevent="move('z', '+')"
                            @touchend.prevent="stop"
                        >
                            <el-icon size="24">
                                <CirclePlus />
                            </el-icon>
                        </el-button>
                    </div>
                </div>
            </div>
        </div>

        <div class="speed-container">
          <div class="label">速度：</div>
          <el-slider v-model="speed" :min="0.01" :step="0.01" :max="1" />
          <div class="proportion">{{( speed / 1 * 100).toFixed(0) }} %</div>
        </div>
    </div>
</template>
<script setup>
import { ref, onMounted, onUnmounted, watch } from 'vue';
import { getPoseApi, speedLApi, stopMotionApi } from '@/api/inspection/cockpit';
import { reactive } from 'vue';

const props = defineProps({
    robot: {
        type: Object,
        default: () => ({})
    },
    type: {
        type: String,
        default: 'end'
    }
})

const pose = ref({
    x: 0,
    y: 0,
    z: 0,
    rx: 0,
    ry: 0,
    rz: 0
})

const speed = ref(1) // 速度百分比，范围 0.1 - 5

const errorNum = ref(0)
/**
 * 获取机械臂末端状态信息
 */
const getPose = async (robot) => {
    try {
        const res = await getPoseApi({
            deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
            terminalId: robot.terminalId
        })
        if (res.code === 200) {
            const { x, y, z, rx, ry, rz } = res.data
            pose.value = { x, y, z, rx, ry, rz }
        } else {
            console.error('获取姿态失败:', res.message)
            errorNum.value++
            if (errorNum.value > 3) {
                clearInterval(timer.value)
            }
        }
    } catch (error) {
        errorNum.value++
            if (errorNum.value > 3) {
                clearInterval(timer.value)
            }
        console.error('获取姿态失败:', error)
    }
}

const speedData = reactive({
    vx: 0,
    vy: 0,
    vz: 0,
    wx: 0,
    wy: 0,
    wz: 0
})

/**
 * 机械臂移动
 * @param axis 坐标轴
 * @param direction 方向
 */
const move = async (axis, direction) => {
    speedData.vx = 0
    speedData.vy = 0
    speedData.vz = 0
    speedData.wx = 0
    speedData.wy = 0
    speedData.wz = 0
    if (props.type === 'end') {
        // 末端移动
        const speedValue = speed.value
        switch (axis) {
            case 'x':
                speedData.vx = direction === '+' ? speedValue : -speedValue
                break
            case 'y':
                speedData.vy = direction === '+' ? speedValue : -speedValue
                break
            case 'z':
                speedData.vz = direction === '+' ? speedValue : -speedValue
                break
        }
    } else if (props.type === 'posture') {
        // 关节移动
        const jointSpeed = speed.value
        switch (axis) {
            case 'x':
                speedData.wx = direction === '+' ? jointSpeed : -jointSpeed
                break
            case 'y':
                speedData.wy = direction === '+' ? jointSpeed : -jointSpeed
                break
            case 'z':
                speedData.wz = direction === '+' ? jointSpeed : -jointSpeed
                break
        }

    }

    speedLApi({
        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: props.robot.terminalId,
        duration: 60,
        acceleration: speed.value + 0.1,
        ...speedData
    })
}

/**
 * 停止机械臂移动
 */
const stop = async () => {
    await stopMotionApi({
        deviceId: import.meta.env.VITE_INSPECTION_ARM_DEVICE_ID,
        terminalId: props.robot.terminalId
    })
}

const timer = ref(null)
watch(() => props.robot, (newRobot) => {
    if (newRobot && newRobot.terminalId) {
        if (timer.value) {
            clearInterval(timer.value)
        }
        timer.value = setInterval(() => {
            getPose(newRobot)
        }, 100)
    }
}, { immediate: true })
</script>
<style lang="scss" scoped>
.robotic-arm-box {
    margin-top: 12px;

    .robotic-arm-status {
        .coord-display {
            display: flex;
            flex-wrap: wrap;
            gap: 8px;
            padding: 12px;
            background: #070b1a;
            border: 1px solid #1c2a52;
            border-radius: 8px;
            margin-bottom: 16px;

            .coord-item {
                width: calc((100% - 24px) / 3);
                text-align: center;
                padding: 6px 0;
                border-radius: 6px;
                background: rgba(255, 255, 255, 0.02);

                .coord-key {
                    font-size: 12px;
                    font-weight: bold;
                    margin-bottom: 3px;
                }

                .key-x {
                    color: #f87171;
                }

                .key-y {
                    color: #34d399;
                    ;
                }

                .key-z {
                    color: #38bdf8;
                    ;
                }

                .coord-val {
                    font-size: 14px;
                    font-weight: bold;
                    color: #e8edf8;
                }
            }
        }
    }

    .axis-group {
        display: flex;
        flex-direction: column;
        gap: 12px;
        margin-bottom: 16px;

        .axis-row {
            display: flex;
            align-items: center;
            gap: 10px;
            padding: 10px 14px;
            background: #0c1228;
            border: 1px solid #1c2a52;
            border-radius: 10px;
            transition: all 0.2s ease;

            &:hover {
                border-color: #2a3f7a;
                background: #3b82f608;
            }

            .axis-label {
                width: 28px;
                height: 28px;
                border-radius: 6px;
                display: flex;
                align-items: center;
                justify-content: center;
                font-size: 13px;
                font-weight: 700;
                flex-shrink: 0;
            }

            .x {
                background: #f8717126;
                color: #f87171;
                border: 1px solid #f871714d;
            }

            .y {
                background: #34d39926;
                color: #34d399;
                border: 1px solid #34d3994d;
            }

            .z {
                background: #38bdf826;
                color: #38bdf8;
                border: 1px solid #38bdf84d;
            }


            .axis-slider-wrap {
                flex: 1;
                display: flex;
                align-items: center;
                justify-content: space-between;
                gap: 4px;
                color: #fff;
            }
        }
    }

    .speed-container {
        display: flex;
        align-items: center;
        justify-content: space-between;

        .label,
        .proportion {
          width: 100px;
          text-align: center;
          color: #fff;
        }
    }
}
</style>