using log4net; 
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO.IsolatedStorage;
using System.Linq;
using System.Text;
using System.Threading;


namespace OnlineStore.DeviceLibrary
{
    /// <summary>
    /// 康泰克单台自动料仓
    /// </summary>
    public abstract class KTK_Store
    {
        /// <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 StoreStatus storeStatus = StoreStatus.ResetMove;
        /// <summary>
        /// 提示消息，一般发给服务器后清空（LineBean表示报警提示消息，BoxBean表示出入库失败的原因记录）
        /// </summary>
        public string WarnMsg = "";
        public string Name { get; set; }
        public int DeviceID { get; set; }

        public BaseConfig baseConfig;
        /// <summary>
        /// 料仓状态
        /// </summary>
        private StoreRunStatus storerunstatus = StoreRunStatus.Wait;
        /// <summary>
        /// 定时器
        /// </summary>
        protected System.Timers.Timer mainTimer;

        private bool isInit = false;

        public bool IsDebug = false;

        public StoreMoveInfo MoveInfo = null;
        public KTK_Store()
        {
        }
        public DateTime StartTime { get; set; }

        public DateTime lastAirCloseTime = DateTime.Now;
        public bool isInSuddenDown = false;
        public bool isNoAirCheck = false;
        public StoreAlarmType alarmType = StoreAlarmType.None;
        public AlarmInfo alarmInfo = new AlarmInfo();

        ///// <summary>
        ///// 记录上一次的部分IO状态，主要是急停，气压检测信号，复位信号，用来判断是否io发生改变
        ///// </summary>
        //public Dictionary<string, IO_VALUE> DILastValueMap = new Dictionary<string, IO_VALUE>();

        //public object lastDiListLock = "";
        //public void addLastDI(string type, IO_VALUE value)
        //{

        //    try
        //    {
        //        lock (lastDiListLock)
        //        {
        //            if (DILastValueMap.ContainsKey(type))
        //            {
        //                DILastValueMap.Remove(type);
        //            }
        //            DILastValueMap.Add(type, value);
        //        }
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(ex.ToString());
        //    }
        //}


        public TimeSpan GetStoreRunTime()
        {
            if (StartTime != null)
            {
                return DateTime.Now - StartTime;
            }
            else
            {
                return new TimeSpan(0);
            }
        }
        protected bool isInPro = false;
        protected virtual void BusyMoveProcess()
        {
            //if (isInPro)
            //{
            //    return;
            //}
            isInPro = true;
            try
            {
                switch (MoveInfo.MoveType)
                {
                    case StoreMoveType.InStore:
                        InStoreProcess();
                        isInPro = false;
                        break;
                    case StoreMoveType.OutStore:
                        OutStoreProcess();
                        isInPro = false;
                        break;
                    case StoreMoveType.ReturnHome:
                        ResetProcess();
                        isInPro = false;
                        break;
                    case StoreMoveType.StoreReset:
                        ResetProcess();
                        isInPro = false;
                        break;
                    case StoreMoveType.CheckPosition:
                        InventoryProcess();
                        isInPro = false;
                        break;
                    default: break;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("BusyMoveProcess出错：" + ex.ToString());
            }
            isInPro = false;
        }
        protected void SaveAlarmInfo(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType)
        {
            alarmMsg = alarmMsg.Replace(Name, "");
            int inoutStatus = 0;
            if (storeMoveType.Equals(StoreMoveType.InStore))
            {
                inoutStatus = 1;
            }
            else if (storeMoveType.Equals(StoreMoveType.InStore))
            {
                inoutStatus = 2;
            }
            int aType = 0;
            switch (alarmType)
            {
                case StoreAlarmType.AxisMoveError:
                    aType = 2;
                    break;
                case StoreAlarmType.AxisAlarm:
                    aType = 2;
                    break;
                case StoreAlarmType.SuddenStop:
                    aType = 1;
                    alarmDetial = "1";
                    break;
                case StoreAlarmType.NoAirCheck:
                    aType = 1;
                    alarmDetial = "2";
                    break;
                case StoreAlarmType.IoSingleTimeOut:
                    aType = 3;
                    break;
                case StoreAlarmType.StellAlarm:
                    aType = 2;
                    alarmDetial = "5";
                    break;
                default: break;
            }
            alarmInfo = new AlarmInfo(DeviceID, aType, alarmDetial, alarmMsg, inoutStatus);
        }

        /// <summary>
        /// 开始运行
        /// </summary>
        public abstract bool StartRun( );
        /// <summary>
        /// 停止运行
        /// </summary>
        public abstract void StopRun();
        /// <summary>
        /// 报警
        /// </summary>
        /// <param name="alarmType"></param>
        public abstract void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType);
        /// <summary>
        /// 重置（夹料装置状态不变）
        /// </summary>
        public abstract void Reset(bool isNeedClearAuto = true);

        /// <summary>
        /// 停止所有运动
        /// </summary>
        public abstract void StopMove();

        /// <summary>
        /// 重置处理
        /// </summary>
        protected abstract void ResetProcess();
        /// <summary>
        /// 盘点处理
        /// </summary>
        protected virtual void InventoryProcess()
        {
        }

        protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
        {
            moveAxis.TargetPosition = 0;
            LogUtil.debug(moveAxis.DisplayStr + "speed[" + moveAxis.HomeHighSpeed + "]开始原点返回");
            int org = ACServerManager.instance.GetHomeSingle(moveAxis.DeviceName, moveAxis.GetAxisValue());
            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisHome(moveAxis, org));
            AxisManager.instance.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed);
        }

        protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
        {
            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
            moveAxis.TargetPosition = targetPosition;
            AxisManager.instance.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed,moveAxis.AddSpeed,moveAxis.DelSpeed);
        }

        protected bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
        {
            msg = "";
            string deviceName = moveAxis.DeviceName;
            short axisNo = moveAxis.GetAxisValue();
            bool countError = false;
            bool IsOk = AxisManager.instance.AbsMoveIsEnd(deviceName, axisNo, targetPosition, moveAxis.CanErrorCountMax, out countError);
            if (IsOk)
            {
                return true;
            }
            if (countError)
            {
                int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
                //判断是否需要重新运动
                if (MoveInfo.CanWhileCount > 0)
                {
                    LogUtil.error(Name + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
                    AxisManager.instance.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed,moveAxis.AddSpeed,moveAxis.DelSpeed);
                    MoveInfo.CanWhileCount--;
                }
                else
                {
                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
                        + "]，误差过大，需要报警";
                    LogUtil.error(msg);
                }
            } 
            return false;
        }
        protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
        {
            msg = "";
            if (AxisManager.instance.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
            {
                //原点完成并且位置=0
                int outCount = AxisManager.instance.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
                int errorCount = Math.Abs(outCount);
                if (errorCount <= moveAxis.CanErrorCountMax)
                {
                    return true;
                }
                //判断是否需要重新运动
                if (MoveInfo.CanWhileCount > 0)
                {
                    LogUtil.error(Name+  moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
                    //LogUtil.error(  StoreName +  moveAxis.DisplayStr +  "重新回原点");
                    AxisManager.instance.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed);
                    MoveInfo.CanWhileCount--;
                }
                else
                {
                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
                    LogUtil.error(  msg);
                }
            } 
            return false;
        }
 
        protected virtual void Init()
        {
            if (!isInit)
            {
                MoveInfo = new StoreMoveInfo(DeviceID);

                mainTimer = new System.Timers.Timer();
                mainTimer.Enabled = false;
                mainTimer.Interval = 300;
                mainTimer.Elapsed += timersTimer_Elapsed;
                mainTimer.AutoReset = true;
                isInit = true;
            }
        }
        public StoreRunStatus storeRunStatus
        {
            get
            {
                return storerunstatus;
            }
            set
            {
                StoreRunStatus oldStatus = storerunstatus;
                storerunstatus = value;
            }
        }
         
         
        protected abstract void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e);
        #region 出库 
        public abstract bool StartOutStoreMove(InOutParam param);
        protected abstract void OutStoreProcess();
        #endregion

        #region 入库 
        public abstract void StartInStoreMove(InOutParam param);
        protected abstract void InStoreProcess();
        #endregion



        public string GetRunStr()
        {
            string sta = "运行中";
            string aa = "";
            switch (storeRunStatus)
            {
                case StoreRunStatus.Busy:
                    sta = "忙碌";
                    break;
                case StoreRunStatus.HomeMoving:
                    sta = "原点返回";
                    break;
                case StoreRunStatus.Reset:
                    sta = "重置";
                    break;
                case StoreRunStatus.Runing:
                    sta = "运行中";
                    break;
                case StoreRunStatus.Wait:
                    sta = "等待启动";
                    break;
            }
            if (storeRunStatus > StoreRunStatus.Wait)
            {
                //"0":"急停中",   "1":"设备联机",   "2":"故障中", "3":"入库执行中",  "4":"出库执行中",   5":"料盘入仓位完成",   "6":"料盘出仓位完成",  7":"设备调试中",
                switch (storeStatus)
                {
                    case StoreStatus.Debugging:
                        aa = "设备调试中";
                        break;
                    case StoreStatus.InStoreEnd:
                        aa = "料盘入仓位完成";
                        break;
                    case StoreStatus.InStoreExecute:
                        aa = "入库执行中";
                        break;
                    case StoreStatus.InTrouble:
                        aa = "故障中";
                        break;
                    case StoreStatus.OutStoreBoxEnd:
                        aa = "料盘出仓位完成";
                        break;
                    case StoreStatus.OutStoreExecute:
                        aa = "出库执行中";
                        break;
                    case StoreStatus.StoreOnline:
                        aa = "设备联机";
                        break;
                    case StoreStatus.SuddenStop:
                        aa = "急停中";
                        break;
                    case StoreStatus.OutMoveExecute:
                        aa = "出库完成";
                        break;
                    case StoreStatus.InStoreFaild:
                        aa = "入库失败（" + WarnMsg + "）";
                        break;
                    case StoreStatus.OutStoreFaild:
                        aa = "出库失败（" + WarnMsg + "）";
                        break;
                    case StoreStatus.CheckPosMove:
                        aa = "盘点中";
                        break;
                }
                if (!aa.Equals(""))
                {

                    string inout = "";
                    if (MoveInfo.MoveType.Equals(StoreMoveType.InStore)&& MoveInfo.MoveParam!=null&& MoveInfo.MoveParam.PosInfo!=null)
                    {
                        inout = "_入库："+MoveInfo.MoveParam.PosInfo.ToStr();
                    }
                    else if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosInfo != null)
                    {
                        inout = "_出库：" + MoveInfo.MoveParam.PosInfo.ToStr();
                    }
                    else
                    {
                        inout = "   " + MoveInfo.MoveType + "_" + MoveInfo.MoveStep;
                    }
                    return sta + "_" + aa+inout;
                }
                else
                {
                    return sta + "   " + MoveInfo.MoveType + "_" + MoveInfo.MoveStep;
                }
            }
            else
            {
                return sta + "   " + MoveInfo.MoveType + "_" + MoveInfo.MoveStep;
            }
        }


        public string GetMoveStr()
        {
            string msg = ""; 
            msg += "状态： " + storeRunStatus + "\t "+  "  " + storeStatus + "\n";
            msg += "alarm：  " + alarmType + "\n";
            msg += "Move：" + MoveInfo.MoveType + "  " + MoveInfo.MoveStep + "\n"; 
            return msg;
        }

        public void IOMove(string IoType, IO_VALUE value)
        {
            IOManager.IOMove(IoType, value, baseConfig.DeviceID);
        }
        public IO_VALUE IOValue(string IoType)
        {
             return IOManager.IOValue(IoType, baseConfig.DeviceID); 
        }
        protected void SetWarnMsg(string msg)
        {
            if (String.IsNullOrEmpty(WarnMsg).Equals(false))
            {
                if (WarnMsg.Equals(msg))
                {
                    if (msg.StartsWith(Name))
                    {
                        LogUtil.error(msg, 105);
                    }
                    else
                    {
                        LogUtil.error(Name + msg, 105);
                    }
                }
                else
                {
                    if (msg.StartsWith(Name))
                    {
                        LogUtil.error(msg);
                    }
                    else
                    {
                        msg = Name + msg;
                        LogUtil.error(  msg);
                    }
                }
            }

            WarnMsg = msg;
        }
        public  bool IsDoValue(string ioType, IO_VALUE ioValue)
        {
            return IOValue(ioType).Equals(ioValue);
        } 
        public void LogInfo(string logInfo)
        {
            LogUtil.info(Name + logInfo);
        }
    }
}