AGVEmulator/types.ts

export enum ToolType {
  SELECT = 'SELECT',
  DRAW_LINE = 'DRAW_LINE', // Logical Edge
  DRAW_MAGNET_STRAIGHT = 'DRAW_MAGNET_STRAIGHT', // Physical Line
  DRAW_MAGNET_CURVE = 'DRAW_MAGNET_CURVE', // Physical Curve
  ADD_RFID = 'ADD_RFID',
  ADD_MARK = 'ADD_MARK',
  ERASER = 'ERASER',
}

export interface Point {
  x: number;
  y: number;
}

// C# MapNode Type Enum (Internal use)
export enum NodeType {
  Normal = 0,
  Loader = 1,
  UnLoader = 2,
  Charging = 3, // Used for Cleaner in new map
  Buffer = 4,
  ChargerStation = 5,
  Label = 6,
  Image = 7
}

// React Internal Node Structure
export interface MapNode extends Point {
  id: string; // NodeId
  type: number; // NodeType (Internal enum)
  name: string;
  rfidId: string; // RFID is property of Node
  connectedNodes: string[]; // Keep track for export

  // Visual props
  labelText?: string;
  foreColor?: string;
  backColor?: string;
  imageBase64?: string;
  displayColor?: string;

  // New props preservation
  fontSize?: number;

  // Extended Properties (from C# Model)
  stationType?: number;
  speedLimit?: number;
  canDocking?: boolean;
  dockDirection?: number;
  canTurnLeft?: boolean;
  canTurnRight?: boolean;
  disableCross?: boolean;
  isActive?: boolean;
  nodeTextForeColor?: string;
  nodeTextFontSize?: number;
}

export interface MapEdge {
  id: string;
  from: string;
  to: string;
}

// Physical Magnet Line for AGV to follow
export interface MagnetLine {
  id: string;
  type: 'STRAIGHT' | 'CURVE';
  p1: Point;
  p2: Point;
  controlPoint?: Point; // Required for CURVE (Quadratic Bezier control point)
}

// Mark Sensor now needs rotation to be "crossed" on the line
export interface FloorMark extends Point {
  id: string;
  rotation: number; // Degrees
}

export interface SimulationMap {
  nodes: MapNode[];
  edges: MapEdge[]; // Logical Graph Connections
  magnets: MagnetLine[]; // Physical Guide Tape
  marks: FloorMark[];
}

// --- C# Data Transfer Objects (New JSON Structure) ---

export interface CSharpNode {
  Id: string;
  Text: string;
  Position: string; // "x, y"
  Type: number; // Usually 0 for nodes
  StationType: number; // Functional type
  ConnectedNodes: string[];
  RfidId: string;
  NodeTextForeColor?: string;
  NodeTextFontSize?: number;
  // Flags (Optional for TS if not used logic-side, but good to preserve)
  CanDocking?: boolean;
  DockDirection?: number;
  CanTurnLeft?: boolean;
  CanTurnRight?: boolean;
  DisableCross?: boolean;
  IsActive?: boolean;
  SpeedLimit?: number;
  AliasName?: string;
}

export interface CSharpLabel {
  Id: string;
  Type: number; // 1
  Text: string;
  Position: string;
  ForeColor: string;
  BackColor: string;
  FontFamily?: string;
  FontSize?: number;
  FontStyle?: number;
  Padding?: number;
}

export interface CSharpImage {
  Id: string;
  Type: number; // 2
  Name: string;
  Position: string;
  ImagePath?: string;
  ImageBase64?: string;
  Scale?: string;
  Opacity?: number;
  Rotation?: number;
}

export interface CSharpMagnet {
  Id: string;
  Type: number; // 4
  P1: { X: number; Y: number };
  P2: { X: number; Y: number };
  ControlPoint?: { X: number; Y: number } | null;
}

export interface CSharpMark {
  Id: string;
  Type: number; // 3
  Position: string;
  X: number;
  Y: number;
  Rotation: number;
}

export interface CSharpMapData {
  Nodes: CSharpNode[];
  Labels?: CSharpLabel[];
  Images?: CSharpImage[];
  Magnets: CSharpMagnet[];
  Marks: CSharpMark[];
  Settings?: any;
  Version: string;
  CreatedDate: string;
}

export enum AgvMotionState {
  IDLE = 'IDLE',
  FORWARD = 'FORWARD',
  BACKWARD = 'BACKWARD',
  TURN_LEFT = 'TURN_LEFT',
  TURN_RIGHT = 'TURN_RIGHT',
  TURN_LEFT_180 = 'TURN_LEFT_180',
  TURN_RIGHT_180 = 'TURN_RIGHT_180',
  MARK_STOPPING = 'MARK_STOPPING',
  RUNNING = 'RUNNING',
}

export interface AgvRunConfig {
  direction: 'FWD' | 'BWD';
  branch: 'STRAIGHT' | 'LEFT' | 'RIGHT';
  speedLevel: 'L' | 'M' | 'H';
}

// --- Protocol Enums (Matched with C# DevAGV.cs) ---

export enum AgvError {
  Emergency = 0,
  Overcurrent = 1,
  Charger_run_error = 2,
  Charger_pos_error = 3,
  line_out_error = 4,
  runerror_by_no_magent_line = 5,
  agv_system_error = 6,
  battery_low_voltage = 7,
  lift_time_over = 9,
  lift_driver_ocr = 10,
  lift_driver_emg = 11,
  arrive_ctl_comm_error = 12,
  door_ctl_comm_error = 13,
  charger_comm_error = 14,
  cross_ctrl_comm_error = 15,
}

export enum AgvSignal {
  front_gate_out = 0,
  rear_sensor_out = 1,
  mark_sensor_1 = 2,
  mark_sensor_2 = 3,
  lift_down_sensor = 4,
  lift_up_sensor = 5,
  magnet_relay = 6,
  charger_align_sensor = 7,
  front_center_sensor = 8,
}

export enum SystemFlag0 {
  Memory_RW_State = 5,
  EXT_IO_Conn_State = 6,
  RFID_Conn_State = 7,
  M5E_Module_Run_State = 8,
  Front_Ultrasonic_Conn_State = 9,
  Front_Untrasonic_Sensor_State = 10,
  Side_Ultrasonic_Conn_State = 11,
  Side_Ultrasonic_Sensor_State = 12,
  Front_Guide_Sensor_State = 13,
  Rear_Guide_Sensor_State = 14,
  Battery_Level_Check = 15
}

export enum SystemFlag1 {
  Side_Detect_Ignore = 3,
  Melody_check = 4,
  Mark2_check = 5,
  Mark1_check = 6,
  gateout_check = 7,
  Battery_charging = 8,
  re_Start = 9,
  front_detect_ignore = 10,
  front_detect_check = 11,
  stop_by_front_detect = 12,
  stop_by_cross_in = 13,
  agv_stop = 14,
  agv_run = 15
}

export interface AgvState {
  x: number;
  y: number;
  rotation: number;
  targetRotation: number | null;
  speed: number;
  liftHeight: number;
  motionState: AgvMotionState;
  runConfig: AgvRunConfig;
  error: string | null;
  sensorStatus: string; // Corresponds to sts_sensor in C#

  // Physical Sensors
  detectedRfid: string | null;
  sensorLineFront: boolean;
  sensorLineRear: boolean;
  sensorMark: boolean;

  // New features
  magnetOn: boolean;
  liftStatus: 'IDLE' | 'UP' | 'DOWN';

  lidarEnabled: boolean; // 1=ON, 0=OFF
  isCharging: boolean; // Manual charging state

  // Protocol Flags (Integers representing bitmaps)
  system0: number;
  system1: number;
  errorFlags: number;
  signalFlags: number;

  // Battery
  batteryLevel: number; // Percentage 0-100
  maxCapacity: number; // Ah (Total Capacity)
  batteryTemps: number[]; // [Temp1, Temp2]
  cellVoltages: number[];
}

export interface LogEntry {
  id: string;
  timestamp: string;
  type: 'INFO' | 'RX' | 'TX' | 'ERROR';
  source: 'AGV' | 'BMS' | 'ACS' | 'SYSTEM';
  message: string;
}

export interface AcsPacket {
  id: number;
  command: number;
  data: number[];
  valid: boolean;
}