"use strict";
var __decorate = (this && this.__decorate) || function (decorators, target, key, desc) {
    var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;
    if (typeof Reflect === "object" && typeof Reflect.decorate === "function") r = Reflect.decorate(decorators, target, key, desc);
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    return c > 3 && r && Object.defineProperty(target, key, r), r;
};
var __metadata = (this && this.__metadata) || function (k, v) {
    if (typeof Reflect === "object" && typeof Reflect.metadata === "function") return Reflect.metadata(k, v);
};
var __param = (this && this.__param) || function (paramIndex, decorator) {
    return function (target, key) { decorator(target, key, paramIndex); }
};
var _a;
Object.defineProperty(exports, "__esModule", { value: true });
exports.RobotArmQuery = void 0;
const type_graphql_1 = require("type-graphql");
const shell_1 = require("@things-factory/shell");
const robotarm_type_1 = require("./robotarm-type");
const robotics_types_1 = require("../../controllers/robotics-types");
const integration_base_1 = require("@things-factory/integration-base");
const robot_arm_api_1 = require("../../controllers/robot-arm-api");
const debug = require('debug')('aidoop:robotics:robotarm-query');
// extend type Query {
//   robotArms(filters: [Filter!], pagination: Pagination, sortings: [Sorting!]): RobotArmList
//   robotArmPose(name: String!): Pose
//   robotArmGetPose(name: String!): Pose
//   robotArmGetStatus(name: String!): RobotArmStatus
//   robotArmJoints(name: String!): Joints
//   robotArmGetJoints(name: String!): Joints
// }
let RobotArmQuery = class RobotArmQuery {
    async robotArm(name, context) {
        const { domain } = context.state;
        var connection = integration_base_1.ConnectionManager.getConnectionInstanceByName(domain, name);
        debug('connection', connection);
        if (!connection || connection.discriminator !== robotics_types_1.ROBOTICS_OBJECT_TYPES.ROBOT_ARM) {
            debug(`RobotArm '${name}' Not Found`);
            throw Error(`RobotArm '${name}' Not Found`);
        }
        var { markerOffset, toolOffset } = connection.params || {};
        debug('result', markerOffset, toolOffset);
        return Object.assign(Object.assign({}, connection), { markerOffset,
            toolOffset });
    }
    async robotArms(params, context) {
        const { domain } = context.state;
        var items = Object.keys(integration_base_1.ConnectionManager.getConnectionInstances(domain))
            .map(name => integration_base_1.ConnectionManager.getConnectionInstanceByName(domain, name))
            .filter(connection => connection.discriminator == robotics_types_1.ROBOTICS_OBJECT_TYPES.ROBOT_ARM)
            .map(connection => {
            var { markerOffset, toolOffset } = connection.params || {};
            return Object.assign(Object.assign({}, connection), { markerOffset,
                toolOffset });
        });
        return {
            items,
            total: items.length
        };
    }
    async robotArmPose(name, context) {
        const { domain } = context.state;
        // @deprecated replaced by robotArmGetPose
        return robot_arm_api_1.RobotArmAPI.getPose(domain, name);
    }
    async robotArmGetPose(name, context) {
        const { domain } = context.state;
        // @deprecated replaced by robotArmGetPose
        return robot_arm_api_1.RobotArmAPI.getPose(domain, name);
    }
    async robotArmGetStatus(name, context) {
        const { domain } = context.state;
        return robot_arm_api_1.RobotArmAPI.getStatus(domain, name);
    }
    async robotArmJoints(name, context) {
        const { domain } = context.state;
        // @deprecated replaced by robotArmGetPose
        return robot_arm_api_1.RobotArmAPI.getJoints(domain, name);
    }
    async robotArmGetJoints(name, context) {
        const { domain } = context.state;
        // @deprecated replaced by robotArmGetPose
        return robot_arm_api_1.RobotArmAPI.getJoints(domain, name);
    }
};
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.RobotArm, { description: 'To fetch a RobotArm' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArm", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.RobotArmList, { description: 'To fetch multiple RobotArms' }),
    __param(0, (0, type_graphql_1.Args)()),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [typeof (_a = typeof shell_1.ListParam !== "undefined" && shell_1.ListParam) === "function" ? _a : Object, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArms", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.Pose, { description: 'To fecth the current pose of the robot' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArmPose", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.Pose, { description: 'To fecth the current pose of the robot' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArmGetPose", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.RobotArmStatus, { description: 'To fecth the current status of the robot' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArmGetStatus", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.Joints, { description: 'To fecth the current status of the robot' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArmJoints", null);
__decorate([
    (0, type_graphql_1.Query)(returns => robotarm_type_1.Joints, { description: 'To fecth the current status of the robot' }),
    __param(0, (0, type_graphql_1.Arg)('name', type => String, { nullable: false })),
    __param(1, (0, type_graphql_1.Ctx)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [String, Object]),
    __metadata("design:returntype", Promise)
], RobotArmQuery.prototype, "robotArmGetJoints", null);
RobotArmQuery = __decorate([
    (0, type_graphql_1.Resolver)(robotarm_type_1.RobotArm)
], RobotArmQuery);
exports.RobotArmQuery = RobotArmQuery;
//# sourceMappingURL=robotarm-query.js.map