/*
 * MoveToPoint.cpp
 *
 *  Created on: 8 èþë. 2020 ã.
 *      Author: LeonidTitov
 */

#include "MoveToPoint.hh"

#include "../../systemic/ValueLazyFast.hpp"

bool application::procedures::MoveToPoint::input( Environment & env ) {

    typedef technological::adapter::TieInterface<vector::ITechValue> ValueControl;

    return     ( control_system = env.rholder.getShared< ValueControl >( links.positioning_control    ) )
            and ( torque_limit = env.rholder.getShared<vector::ITechValue>( links.torque_limit ) )
            and ( acc_limit = env.rholder.getShared<vector::ITechValue>( links.acceleration_limit ) )
            and ( speed_limit = env.rholder.getShared<vector::ITechValue>( links.speed_limit ) )
            and ( parameter = systemic::getSetting<technological::function::MoveToPoint>( env.cparams, provider, links.conditions ) );

}

void application::procedures::MoveToPoint::build( Environment & env ) {

    typedef technological::function::MoveToPoint MTP;

    systemic::LocalSetting<MTP> ls( parameter );

    MTP * procedure = memories::instance_object<MTP>( env.static_object_ma,
                                                    *control_system, *speed_limit, *torque_limit, *acc_limit );

    procedure->configure( ls.setting );

    systemic::ProcScheduler::ProcessParameter proc = {
        .priority = params.priority,
        .period = params.period, .phase = params.phase,
        .controlled = true
    };
    env.scheduler.registerProcess( params.processor_id, *procedure,
                                   proc );

    env.rholder.share<technological::ITechFunction>( *procedure, links.procedure );

    typedef systemic::detail::ValueLazyFast<bool, MTP, &MTP::isSizeError> SizeError;
    env.statuses.add( links.size_error, memories::instance_object<SizeError>( env.static_setup_ma, *procedure ) );
    typedef systemic::detail::ValueLazyFast<bool, MTP, &MTP::isInvalidInput> InvalidInput;
    env.statuses.add( links.invalid_input, memories::instance_object<InvalidInput>( env.static_setup_ma, *procedure ) );
    typedef systemic::detail::ValueLazyFast<bool, MTP, &MTP::isControlSystemBusy> ControlSystemBusy;
    env.statuses.add( links.control_system_busy, memories::instance_object<ControlSystemBusy>( env.static_setup_ma, *procedure ) );

}