"use strict";
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};
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    return function (target, key) { decorator(target, key, paramIndex); }
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var _a;
Object.defineProperty(exports, "__esModule", { value: true });
exports.TrackingCameraQuery = void 0;
const type_graphql_1 = require("type-graphql");
const shell_1 = require("@things-factory/shell");
const tracking_camera_type_1 = require("./tracking-camera-type");
const robotics_types_1 = require("../../controllers/robotics-types");
const integration_base_1 = require("@things-factory/integration-base");
const debug = require('debug')('aidoop:robotics:tracking-camera-query');
// extend type Query {
//   trackingCameras(filters: [Filter], pagination: Pagination, sortings: [Sorting]): TrackingCameraList
//   trackingCamera(name: String!): TrackingCamera
// }
let TrackingCameraQuery = class TrackingCameraQuery {
    async trackingCamera(name, context) {
        const { domain } = context.state;
        var connection = integration_base_1.ConnectionManager.getConnectionInstanceByName(domain, name);
        if (!connection || connection.discriminator !== robotics_types_1.ROBOTICS_OBJECT_TYPES.CAMERA) {
            throw Error(`TrackingCamera '${name}' Not Found`);
        }
        var { handEyeConfig, handEyeMatrix, cameraCalibration, rois, camObjOffset, width, height } = connection.params || {};
        var { cameraMatrix, distortionCoefficient } = cameraCalibration || {};
        return Object.assign(Object.assign({}, connection), { cameraMatrix,
            distortionCoefficient,
            handEyeConfig,
            handEyeMatrix,
            rois,
            camObjOffset,
            width,
            height });
    }
    async trackingCameras(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.CAMERA)
            .map(connection => {
            var { handEyeConfig, handEyeMatrix, cameraCalibration, rois, camObjOffset, width, height } = connection.params || {};
            var { cameraMatrix, distortionCoefficient } = cameraCalibration || {};
            return Object.assign(Object.assign({}, connection), { cameraMatrix,
                distortionCoefficient,
                handEyeConfig,
                handEyeMatrix,
                rois,
                camObjOffset,
                width,
                height });
        });
        return {
            items,
            total: items.length
        };
    }
    async baseRobotArm(trackingCamera) {
        const { domain } = trackingCamera;
        const { baseRobotArm } = trackingCamera.params || {};
        var baseRobotArmObj = integration_base_1.ConnectionManager.getConnectionInstanceByName(domain, baseRobotArm);
        if (!baseRobotArmObj || baseRobotArmObj.discriminator !== robotics_types_1.ROBOTICS_OBJECT_TYPES.ROBOT_ARM) {
            return;
        }
        return baseRobotArmObj;
    }
};
__decorate([
    (0, type_graphql_1.Query)(returns => tracking_camera_type_1.TrackingCamera, { description: 'To fetch a tracking camera' }),
    __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)
], TrackingCameraQuery.prototype, "trackingCamera", null);
__decorate([
    (0, type_graphql_1.Query)(returns => tracking_camera_type_1.TrackingCameraList, { description: 'To fetch multiple tracking cameras' }),
    __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)
], TrackingCameraQuery.prototype, "trackingCameras", null);
__decorate([
    (0, type_graphql_1.FieldResolver)(type => shell_1.Domain),
    __param(0, (0, type_graphql_1.Root)()),
    __metadata("design:type", Function),
    __metadata("design:paramtypes", [tracking_camera_type_1.TrackingCamera]),
    __metadata("design:returntype", Promise)
], TrackingCameraQuery.prototype, "baseRobotArm", null);
TrackingCameraQuery = __decorate([
    (0, type_graphql_1.Resolver)(tracking_camera_type_1.TrackingCamera)
], TrackingCameraQuery);
exports.TrackingCameraQuery = TrackingCameraQuery;
//# sourceMappingURL=tracking-camera-query.js.map