using log4net;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Text;

using System.Windows.Forms;

namespace OnlineStore.DeviceLibrary
{

    /// <summary>
    /// 等待启动/已经停止,初始化完成， 正常运行中，可以进行新的处理，忙碌，重置
    /// </summary>
    public enum StoreRunStatus
    {
        /// <summary>
        /// 等待启动/已经停止
        /// </summary>
        Wait = 0,
        ///// <summary>
        /////  初始化 ，原点返回状态中,只有流水线使用
        ///// </summary>
        HomeMoving = 1,

        /// <summary>
        /// 设备正在重置中，请稍后
        /// </summary>
        Reset = 2,
        /// <summary>
        /// 正常运行中，可以进行新的处理
        /// </summary>
        Runing = 3,

        /// <summary>
        /// 正在忙碌中，请稍后
        /// </summary>
        Busy = 4,

    }
    /// <summary>
    ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
    ///2=急停，3=故障，4=警告，5=调试
    /// 6=入库执行中,7=入仓完成，8=入仓失败
    /// 9=出库执行，10=出仓完成，11=出库失败
    /// </summary>
    public enum StoreStatus
    {
        /// <summary>
        /// 1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
        /// </summary>
        StoreOnline = 1,
        /// <summary>
        ///2=急停中
        /// </summary>
        SuddenStop = 2,
        /// <summary>
        /// 3=故障中
        /// </summary>
        InTrouble = 3,
        /// <summary>
        /// 4=警告
        /// </summary>
        Warning = 4,
        /// <summary>
        /// 5=设备调试中 
        /// </summary>
        Debugging = 5,
        /// <summary>
        /// 6=入库执行中 
        /// </summary>
        InStoreExecute = 6,
        /// <summary>
        /// 7= 入仓位完成（料仓Box把料盘放入对应的库位中，装置还未恢复原始状态） 
        /// </summary>
        InStoreEnd = 7,
        /// <summary>
        /// 8=入库失败
        /// </summary>
        InStoreFaild = 8,
        /// <summary>
        /// 9=出库执行中",
        /// </summary>
        OutStoreExecute = 9,
        /// <summary>
        ///10= 出仓位完成（ 料盘已经放到Box门口） 
        /// </summary>
        OutStoreBoxEnd = 10,
        /// <summary>
        /// 12=移栽出库移栽过程中（移栽完成后变成OnLine）
        /// </summary>
        OutMoveExecute = 12,
        /// <summary>
        ///11=出库失败
        /// </summary>
        OutStoreFaild = 11,
        /// <summary>
        /// 重置中（原点返回和重置都发此状态）
        /// </summary>
        ResetMove = 13,
    }

    /// <summary>
    /// 料仓运动状态（当料仓状态=busy时，才会有此运动状态）
    /// </summary>
    public enum StoreMoveStep
    {
        /// <summary>
        /// 无操作，等待状态
        /// </summary>
        Wait = 0,

        #region 料仓复位 011 开始

        /// <summary>
        /// BOX复位：进出轴回原点
        /// </summary>
        BOX_H01_InOutBack = 011,

        /// <summary>
        /// BOX复位：进出轴回原点
        /// </summary>
        BOX_H02_InoutToP1,

        /// <summary>
        /// BOX复位：其他轴回原点
        /// </summary>
        BOX_H03_OtherAxisHome,

        /// <summary>
        ///  BOX复位：升降轴，旋转轴，压紧轴原点返回
        /// </summary>
        BOX_H04_OtherAxisBack,
        #endregion

        #region 料仓内部入库步骤 200开始

        /// <summary>
        /// 入库：进出轴返回P1
        /// </summary>
        SI_01_InoutToP1 = 201,
        /// <summary>
        /// 入库： 升降轴，旋转轴到P1，压紧轴到P3
        /// </summary>
        SI_02_AxisBack,

        /// <summary>
        /// 入库：进出轴到P2（ 进料口取料点）
        /// </summary>
        SI_03_InoutToP2,
        /// <summary>
        /// 入库：升降轴到P7（ 进料口取料缓冲点）压紧轴到P2(压紧点)
        /// </summary>
        SI_04_GetReel,

        /// <summary>
        /// 入库：进出轴返回P1
        /// </summary>
        SI_05_InoutToP1,

        /// <summary>
        /// 入库：移动到库位点，旋转轴到P2（ 库位点），升降轴到P3(库位入库前点）
        /// </summary>
        SI_06_ToPos,
        /// <summary>
        /// 入库：进出轴到P3(库位取放料点）
        /// </summary>
        SI_07_InoutToP3,
        /// <summary>
        /// 入库：升降轴到P4（ 库位入料缓冲点）压紧轴到P3（ 压紧前点）
        /// </summary>
        SI_08_PutReel,
        /// <summary>
        /// 入库：进出轴返回P1
        /// </summary>
        SI_09_InoutToP1,
        /// <summary>
        /// 入库：旋转轴，升降轴，压紧轴到待机点P1
        /// </summary>
        SI_10_GoBack,


        /// <summary>
        /// 入库NG料：移动到出料口，旋转轴到P11，升降轴到P12高点
        /// </summary>
        SI_21_ToOutDoor,
        /// <summary>
        /// 入库NG料：打开出料口门
        /// </summary>
        SI_22_OpenOutDoor,
        /// <summary>
        /// 入库NG料：进出轴到_P11-出料口取放料点
        /// </summary>
        SI_23_InoutToP11,
        /// <summary>
        /// 入库NG料：升降轴到_P11-出料口-低点，压紧轴到压紧前点P3
        /// </summary>
        SI_24_PurReel,
        /// <summary>
        /// 入库NG料：进出轴返回待机点P1
        /// </summary>
        SI_25_InoutToP1,
        /// <summary>
        /// 入库NG料：升降轴，旋转轴，压紧轴返回P1，关闭出料口门
        /// </summary>
        SI_26_GoBack,
        #endregion

        #region 料仓内部出库  500 开始



        /// <summary>
        ///料仓出库：进出轴到P1
        /// </summary>
        SO_01_InoutBack = 501,

        /// <summary>
        ///  料仓出库：压紧轴到压紧前点P3 ，旋转轴到库位点P2,轴2(上下） 至P5(库位出库前点） 
        /// </summary>
        SO_02_ToPosition,
        /// <summary>
        ///  料仓出库：进出轴到库位P3
        /// </summary>
        SO_03_InoutToP3,

        /// <summary>
        ///料仓出库：升降轴到P6，轴4（ 压紧） 至P2(压紧点)
        /// </summary>
        SO_04_GetReel,

        /// <summary>
        ///料仓出库：进出轴返回P1
        /// </summary>
        SO_05_InoutBack,


        /// <summary>
        /// 料仓出库：旋转轴至P1，升降轴至P2  
        /// </summary>
        SO_06_ToDoor,
        /// <summary>
        /// 料仓出库：进出轴到P2
        /// /// </summary>
        SO_07_InoutToP2,
        /// <summary>
        /// 料仓出库： 放下物品 升降轴至P1，压紧轴到P3
        /// </summary>
        SO_08_PutReel,
        /// <summary>
        /// 料仓出库： 进出轴到P1
        /// </summary>
        SO_09_InoutBack,
         
        /// <summary>
        /// 料仓出库：升降轴，旋转轴到待机点P1
        /// </summary>
        SO_10_GoBack,
        /// <summary>
        /// 等待提升机构拿走料盘
        /// </summary>
        SO_11_WaitTrayGo,


        /// <summary>
        /// 单盘出库：移动到出料口，旋转轴到P11，升降轴到P12高点
        /// </summary>
        SO_21_ToOutDoor,
        /// <summary>
        /// 单盘出库：打开出料口门
        /// </summary>
        SO_22_OpenOutDoor,
        /// <summary>
        /// 单盘出库：进出轴到_P11-出料口取放料点
        /// </summary>
        SO_23_InoutToP11,
        /// <summary>
        /// 单盘出库：升降轴到_P11-出料口-低点，压紧轴到压紧前点P3
        /// </summary>
        SO_24_PurReel,
        /// <summary>
        /// 单盘出库：进出轴返回待机点P1
        /// </summary>
        SO_25_InoutToP1,
        /// <summary>
        /// 单盘出库：升降轴，旋转轴，压紧轴返回P1，关闭出料口门
        /// </summary>
        SO_26_GoBack,
        #endregion

        #region 流水线模块复位 1001开始
        /// <summary>
        /// 复位：所有阻挡上升，取料提升机构前进端
        /// </summary>
        LR_01_StopUp = 1001,

        /// <summary>
        /// 复位：流水线转动3秒
        /// </summary>
        LR_02_LineRun,
        /// <summary>
        /// 复位：夹爪放松，提升轴回原点，上下轴回原点
        /// </summary>
        LR_03_BatchAxisHome,
        /// <summary>
        /// 复位：提升轴到P1点，上下轴到待机点P1
        /// </summary>
        LR_04_BatchToP1,
        /// <summary>
        /// 复位：取料电机后退，旋转轴回原点
        /// </summary>
        LR_05_Hoister_Back,
        /// <summary>
        /// 复位：顶升气缸下降，旋转轴到待机点P1
        /// </summary>
        LR_06_TopDown,
        /// <summary>
        /// 复位：等待料仓复位完成
        /// </summary>
        LR_07_WaitBox,
        #endregion



        #region 料架入库处理，2001 开始

        /// <summary>
        ///入料检测： 提升轴先返回P1
        /// </summary>

        LI_01_BatchAxisToP1 = 2001,
        /// <summary>
        /// 入料检测：取料提升机构后退端
        /// </summary>
        LI_02_HoisterBack,
        /// <summary>
        /// 入料检测：定位气缸下降
        /// </summary>
        LI_03_LocationDown,
        /// <summary>
        /// 入料检测，转动料架，等待条件到达停止
        /// </summary>
        LI_04_LineStart,
        /// <summary>
        /// 入料检测：流水线上料区检测到料架，流水线再正传五秒
        /// </summary>
        LI_05_WaitTime,
        /// <summary>
        ///入料检测：  顶升气缸上升
        /// </summary>
        LI_06_TopUp,
        /// <summary>
        /// 入料检测：取料提升机构前进
        /// </summary>
        LI_07_HoisterForward,
        /// <summary>
        /// 入料检测：上料轴开始慢速上升到P2点，等待检测到料盘
        /// </summary>
        LI_08_AxisUpToP2,
        /// <summary>
        /// 入料检测：扫码
        /// </summary>
        LI_09_ScanCode,

        /// <summary> 
        /// 入料检测：有料盘：升降轴到料串高点P2，旋转轴到料串位置P4
        /// </summary>
        LI_11_AxisToTray,
        /// <summary>
        ///  取料：升降轴到料串低点P1
        /// </summary>
        LI_12_UpdownAxisToP3,
        /// <summary>
        ///  取料：夹爪气缸夹紧
        /// </summary>
        LI_13_CylinderTighten,
        /// <summary>
        ///  取料：升降轴到料串高点P2
        /// </summary>
        LI_14_UpdownToP1,
        /// <summary>
        /// 取料：等待没有提升机构料盘检测
        /// </summary>
        LI_15_WaitNoCheck,
        /// <summary>
        /// 取料：批量轴到P2,计算高度,
        /// </summary>
        LI_16_BatchAxisToP2,
        /// <summary>
        ///  取料：记录高度尺寸
        /// </summary>
        LI_17_SaveSize,
         
        /// <summary>
        ///  料盘移栽：从服务器获取入库库位号
        /// </summary>
        LI_18_GetPosID,

        /// <summary>
        /// 料盘移栽：等待料仓门口无料盘信号
        /// </summary>
        LI_21_WaitToBox,

        /// <summary>
        ///  料盘移栽：获取库位号完成，升降轴到料门口高点，旋转轴到料仓门口
        /// </summary>
        LI_22_ToBoxDoor,

        /// <summary>
        /// 料盘移栽：  升降轴到料门口低点，开始预扫码
        /// </summary>
        LI_23_UpdownDown,

        /// <summary>
        /// 料盘移栽： 上料气缸放松
        /// </summary>
        LI_24_CylinderRelax,
        /// <summary>
        /// 料盘移栽： 升降轴到料门口高点
        /// </summary>
        LI_25_UpdownUp,
        /// <summary>
        ///  料盘移栽：旋转轴返回待机点P1,升降轴到料串高点P2
        /// </summary>
        LI_26_AxisToWait,
       


        /// <summary>
        /// 送出料架，未检测到料盘，提升伺服到P1点
        /// </summary>
        LI_31_BatchAxisToP1 = 2031,
        /// <summary>
        /// 送出料架，升降盘定位气缸后退
        /// </summary>
        LI_32_HoisterBack,

        /// <summary>
        /// 送出料架，顶升气缸下降
        /// </summary>
        LI_33_TopCylinderDown,

        /// <summary>
        /// 送出料架，上料阻挡下降1秒，流水线开始转动
        /// </summary>
        LI_34_WorkStopDown ,
        /// <summary>
        /// 送出料架，等待上料无料架
        /// </summary>
        LI_35_WaitShelfGo ,
        /// <summary>
        ///送出料架， 流水线再转动3秒, 
        /// </summary>
        LI_36_LineRun,

        /// <summary>
        ///送出料架， 流水线停止转动, 
        /// </summary>
        LI_37_LineStop,
        #endregion



        #region 料架出库处理，3001 开始

        /// <summary>
        ///料架出库： 提升轴先返回P1
        /// </summary> 
        LO_01_BatchAxisToP1 =3001,
        /// <summary>
        /// 料架出库：取料提升机构后退端
        /// </summary>
        LO_02_HoisterBack,
        /// <summary>
        /// 料架出库：定位气缸下降
        /// </summary>
        LO_03_LocationDown,
        /// <summary>
        /// 料架出库，转动料架，等待条件到达停止
        /// </summary>
        LO_04_LineStart,
        /// <summary>
        /// 料架出库：流水线上料区检测到料架，流水线再正传五秒
        /// </summary>
        LO_05_WaitTime,
        /// <summary>
        ///料架出库：  顶升气缸上升
        /// </summary>
        LO_06_TopUp,
        /// <summary>
        /// 料架出库：取料提升机构前进
        /// </summary>
        LO_07_HoisterForward,
        /// <summary>
        /// 料架出库：上料轴开始慢速上升到P2点，等待检测到料盘
        /// </summary>
        LO_08_AxisUpToP2,
      /// <summary>
      /// 料架出库，料串已准备好，等待出库中
      /// </summary>
        LO_09_WaitOut,



        /// <summary> 
        /// 取放料：批量轴下降指定的高度
        /// </summary>
        LO_11_BatchAxisDown, 
        /// <summary>
        ///  取放料：旋转轴到料仓门口，升降轴到入料低点
        /// </summary>
        LO_12_ToBoxDoor, 
        /// <summary>
        ///  取放料：升降轴下降到料门口低点
        /// </summary>
        LO_13_UpdownDown,
        /// <summary>
        ///  取放料：夹爪气缸夹紧
        /// </summary>
        LO_14_CylinderTighten,
        /// <summary>
        ///  取放料：升降轴上升到料门口高点
        /// </summary>
        LO_15_UpdownUp,
        /// <summary>
        ///  取放料：旋转轴到料仓位置P1
        /// </summary>
        LO_16_MiddleToP1,
        /// <summary>
        ///  取放料：升降轴到料串高点P2
        /// </summary>
        LO_17_UpdownToP2,
        /// <summary>
        /// 取放料：升降轴到料串放料低点
        /// </summary>
        LO_18_UpdownDown, 
        /// <summary>
        /// 料盘移栽： 夹爪气缸放松
        /// </summary>
        LO_19_CylinderRelax,
        /// <summary>
        /// 料盘移栽： 升降轴到料串高点
        /// </summary>
        LO_20_UpdownUp,
        /// <summary>
        ///  料盘移栽：判断是否送出料架
        /// </summary>
        LO_21_NeedSendShelf,



        /// <summary>
        /// 送出料架，未检测到料盘，提升伺服到P1点
        /// </summary>
        LO_31_BatchAxisToP1 = 3031,
        /// <summary>
        /// 送出料架，升降盘定位气缸后退
        /// </summary>
        LO_32_HoisterBack,

        /// <summary>
        /// 送出料架，顶升气缸下降
        /// </summary>
        LO_33_TopCylinderDown,

        /// <summary>
        /// 送出料架，上料阻挡下降1秒，流水线开始转动
        /// </summary>
        LO_34_WorkStopDown,
        /// <summary>
        /// 送出料架，等待上料无料架
        /// </summary>
        LO_35_WaitShelfGo ,
        /// <summary>
        ///送出料架， 流水线再转动3秒, 
        /// </summary>
        LO_36_LineRun,

        /// <summary>
        ///送出料架， 流水线停止转动, 
        /// </summary>
        LO_37_LineStop,
        #endregion

    }

    public enum AlarmType
    {
        /// <summary>
        /// 没有报警
        /// </summary>
        None = 0,
        /// <summary>
        /// 轴报警
        /// </summary>
        AxisAlarm = 1,
        /// <summary>
        /// 收到急停
        /// </summary>
        SuddenStop = 10,
        /// <summary>
        /// 没有气压信号
        /// </summary>
        NoAirCheck = 11,
        /// <summary>
        /// 轴运动错误，没有达到指定脉冲，但是io判断已停止运动
        /// </summary>
        AxisMoveError = 20,
        /// <summary>
        /// io信号超时未收到
        /// </summary>
        IoSingleTimeOut = 30,
        /// <summary>
        /// 电钢报警
        /// </summary>
        StellAlarm = 50,
    }
}