import { Application, exportScene, system } from '../../src'
import {
  defaultConfig,
  defaultToolCoordinates,
  defaultUserCoordinatesWithLift
} from './DefaultPalletizingConfig'
import { PalletizingSimulateSystem } from './PalletizingSimulateSystem'
import vcControl from './vcControl'
import exClient from './exchangeClient'

const el: any = document.getElementById('app')

const app = new Application(el)
app.start()

const system = new PalletizingSimulateSystem()
app.addSystem(system)

const { EventManager } = app

setTimeout(async () => {
  EventManager.publish('palletizing:simulate:init', {
    params: defaultConfig,
    userCoordinates: defaultUserCoordinatesWithLift,
    toolCoordinates: defaultToolCoordinates,
    initialJoint: [28.9, -37.41, -47.57, -5.02, 90, 118]
  })

  // setTimeout(() => {
  //   console.log('download')
  //   exportScene(app.scene, 'abc')
  // }, 10000)

  const res: any = await vcControl.requestResource()

  vcControl.setResource(res.resource, res.deviceId)

  exClient.connect(
    () => {},
    () => {},
    () => {}
  )

  exClient.subscribe('exchange', (data: any, interval: number) => {
    vcControl.setPose(data.cartesianCoordinate, data.jointCoordinate)
    EventManager.publish('palletizing:simulate:status', { data, interval })
  })

  exClient.subscribe('simulate', (type: string, data: any) => {
    if (type == 'realtime') {
      EventManager.publish('palletizing:simulate:process', data)
    } else if (type == 'robotAction') {
      EventManager.publish('palletizing:simulate:robotAction', data)
    } else if (type == 'partitionAction') {
      EventManager.publish('palletizing:simulate:partitionAction', data)
    } else if (type == 'liftAction') {
      EventManager.publish('palletizing:simulate:liftAction', data)
    } else if (type == 'clearPallets') {
      EventManager.publish('palletizing:simulate:clearBoxes', data)
    }
  })

  await vcControl.clearAlarms()
  await vcControl.setDebuggerStop()
  await vcControl.setAuto('auto')
  await vcControl.setSpeedRatio(100)
  await vcControl.setDebuggerStart('palletStation_simulation')
}, 2000)