using OnlineStore;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace DeviceLibrary
{
    //using Msg = LMsg;
    [Flags]
    public enum MachineSideE {Right=1,Left=2 }
    
    public partial class StoreMachine : IRobot 
    {
        public string Name { get; set; } = "SISO";
        private bool _canRunning = true;
        public bool canRunning
        {
            get { return _canRunning; }
            set
            {
                if (_canRunning != value) {
                    Msg.setlogones();
                }
                _canRunning = value;
            }
        }
        public bool isBusy { get => boxTransport.IsComplateOrFree; }
        public bool isAlarm { get => hasAlarm; }
        public bool isRunning { get => mstart; }

        public RunStatus runStatus { get; set; } = RunStatus.Stop;
        public Store_ConfigBase Config { get; set; }
        public Robot_Config MainConfig { get; set; }
        public event EventHandler<bool> PauseEvent;
        bool _userpause = false;
        public bool UserPause
        {
            get => _userpause; set
            {
                _userpause = value;
                if (value)
                {
                    DeviceSuddenStop();
                }
            }
        }
        public MsgService Msg;
        public bool AutoInOutTestMode { get; set; } = false;
        public MachineSideE MachineSide { get; set; }

        public Dictionary<string, ACStorePosition> StorePosition = new Dictionary<string, ACStorePosition>();

        public MoveInfo ResetMoveInfo;
        /// <summary>
        /// 右侧移动信息
        /// </summary>
        public MoveInfo StoreMoveInfo;
        public MoveInfo AIOTMoveInfo;        
        public delegate void ProcessMsg(List<Msg> msg);
        public event ProcessMsg ProcessMsgEvent;

        internal AxisBean Middle_Axis;
        public AxisBean UpDown_Axis;
        internal AxisBean InOut_Axis;
        internal AxisBean Comp_Axis;
        internal AxisBean Door_Axis;


        ReelTransport boxTransport;
        public DoorControl door;
        public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
        public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;

        ServerCommunication ServerCM;
        public RemoteClient Remote;

        /// <summary>
        /// 开始运行的时间
        /// </summary>
        public DateTime StartTime { get; set; }

        /// <summary>
        /// 是否在急停中
        /// </summary>
        public bool isInSuddenDown = false;

        List<string> _positionNumList = null;
        public List<string> PositionNumList
        {
            get
            {
                if (_positionNumList == null)
                    _positionNumList = StorePosition.Keys.ToList();
                return _positionNumList;
            }
        }
        public string CID = "";
        public StoreMachine(Store_ConfigBase _config, Robot_Config mainConfig, MachineSideE machineSide, out string msg) {
            msg = "";
            Config = _config;
            MainConfig = mainConfig;
            MachineSide = machineSide;
            Msg = new MsgService(MachineSide);
            Name = machineSide.ToString() + "-SISO";
            CID = ConfigHelper.Config.Get($"Device_{MachineSide}_CID", "AMH-SBDH2-1");
            Name = CID;
            LogUtil.info("加载到CID" + CID);
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            Remote = new RemoteClient(CID, Setting_Init.Device_MT_Server);
            Remote.AddAction("DoorRelease", (requestLoadInfo) =>
            {
                return DoorRelease(requestLoadInfo);
            });
            Remote.AddAction("DoorLock", (requestLoadInfo) =>
            {
                return DoorLock(requestLoadInfo);
            });
            StoreMoveInfo = new MoveInfo(crc.GetString("Res0138", "进出库调度"), machineSide,CID);
            StoreMoveInfo.SetStateDelegate(StoreState);
            ResetMoveInfo = new MoveInfo(crc.GetString("Res0139","重置"), machineSide, CID);
            AIOTMoveInfo = new MoveInfo(crc.GetString("Res0140","出入库测试"), machineSide, CID);
            ServerCM = new ServerCommunication(this);
            ServerCM.InStoreEvent += ServerCM_InStoreEvent1;
            ServerCM.OutStoreEvent += ServerCM_OutStoreEvent;
            #region 初始化伺服轴
            Middle_Axis = new AxisBean(Config.Middle_Axis, Name,machineSide);
            Middle_Axis.ForceSafeCheck = true;
            Middle_Axis.interference += Middle_Axis_interference;
            UpDown_Axis = new AxisBean(Config.UpDown_Axis, Name, machineSide);
            UpDown_Axis.interference += UpDown_Axis_interference;
            InOut_Axis = new AxisBean(Config.InOut_Axis, Name, machineSide);
            InOut_Axis.ForceSafeCheck = true;
            InOut_Axis.interference += InOut_Axis_interference;
            Comp_Axis = new AxisBean(Config.Comp_Axis, Name, machineSide);
            Door_Axis = new AxisBean(Config.Door_Axis, Name, machineSide);
            Crc_LanguageChangeEvent(null, EventArgs.Empty);
            #endregion
            boxTransport = new ReelTransport(Config, this);
            boxTransport.DoorControl += BoxTransport_DoorControl;
            boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
            {
                InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
            };

            door = new DoorControl(Name, Config);
            string baseDir = Application.StartupPath;
            string positionConfigFile = Path.Combine(baseDir, "StoreConfig\\"+machineSide.ToString()+"\\linePositions.csv");
            if (File.Exists(positionConfigFile))
            {
                ResetMoveInfo.log($"加载{Name}位置文件：" + positionConfigFile);
                StorePosition = StorePosition.Concat(CSVPositionReader<ACStorePosition>.AddCSVFile(positionConfigFile)).ToDictionary(k => k.Key, v => v.Value);
            }
            else
            {
                msg += Name+ crc.GetString("Res0141","找不到库位配置文件") + "\n";
            }
            string fixpositionConfigFile = Path.Combine(baseDir, "StoreConfig\\" + machineSide.ToString() + "\\fixPositions.csv");
            if (File.Exists(fixpositionConfigFile))
            {
                haveFixpos = true;
                ResetMoveInfo.log($"加载{Name}校准库位文件：" + fixpositionConfigFile);
                StorePosition = StorePosition.Concat(CSVPositionReader<ACStorePosition>.AddCSVFile(fixpositionConfigFile)).ToDictionary(k => k.Key, v => v.Value);
            }
            IOMonitor.RegisterIO(IO_Type.Reset_BTN, RobotManage.Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
            

        }

        private bool BoxTransport_DoorControl(bool arg)
        {
            if (arg)
            {
                if (door.DoorIsOpen())
                    return true;
                else
                {
                    door.OpenDoor(null);
                    return false;
                }
            }
            else {
                if (door.DoorIsClose())
                    return true;
                else
                {
                    door.CloseDoor(null);
                    return false;
                }
            }
        }

        private void ServerCM_OutStoreEvent(JobInfo jobInfo)
        {
            AddOutStoreTask(jobInfo.WareNum, jobInfo.PosId, jobInfo.plateW, jobInfo.plateH);
        }

        private bool ServerCM_InStoreEvent1(JobInfo jobInfo, bool ng, string msg)
        {
            if (ng) {
                StoreMoveInfo.MoveParam.IsNg = true;
                StoreMoveInfo.MoveParam.NgMsg = msg;
                StoreMoveInfo.NextMoveStep(MoveStep.Wait);
                StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(msg, MsgLevel.alarm));
                StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                return true;
            } else {
                return StartInStore(jobInfo, StoreMoveInfo);
            }
        }
        public bool StartInStore(JobInfo jobInfo,MoveInfo moveInfo)
        {
            if (moveInfo.MoveStep == MoveStep.InWaitServerCallback)
            {
                moveInfo.MoveParam.WareCode = jobInfo.WareNum;
                moveInfo.MoveParam.PosID = jobInfo.PosId;
                moveInfo.MoveParam.PlateH = jobInfo.plateH;
                moveInfo.MoveParam.PlateW = jobInfo.plateW;
                moveInfo.NextMoveStep(MoveStep.StoreIn01);
                moveInfo.log($"料盘等待入库:{moveInfo.MoveParam.ToStr()}");
                return true;
            }
            return false;
        }
        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            StoreMoveInfo.Name = crc.GetString("Res0138","进出库调度");
            ResetMoveInfo.Name =  crc.GetString("Res0139","重置");
            AIOTMoveInfo.Name =  crc.GetString("Res0140","出入库测试");
        }
        private (bool, string) InOut_Axis_interference(int from, int to)
        {
            if (to != Config.InOut_P2)
                return (false, "");

            var updownindoor = UpDown_Axis.IsInPosition(Config.UpDown_P2) || UpDown_Axis.IsInPosition(Config.UpDown_P3);
            var ismiddleatdoor = Middle_Axis.IsInPosition(Config.Middle_P1) || Middle_Axis.IsInPosition(Config.Middle_P2);
            if (ismiddleatdoor && updownindoor && IOValue(SIO_Type.Door_Open, Config).Equals(IO_VALUE.HIGH))
            {
                return (false, "");
            }
            else
            {
                if (IOValue(SIO_Type.Door_Open, Config).Equals(IO_VALUE.LOW))
                    return (true, crc.GetString("Res0142", "单料门没有打开进出轴无法伸出"));
                if (!updownindoor)
                    return (true, "升降轴不在P2或P3点");
                if (!ismiddleatdoor)
                    return (true, "旋转轴不在P1或P2点");
            }
            return (false, "");
        }
        private (bool, string) Middle_Axis_interference(int from, int to)
        {
            if (RobotManage.DisableUpdownProtect)
                return (false, "");

            if (InOut_Axis.IsInPosition(Config.InOut_P1))
                return (false, "");

            return (true, crc.GetString("Res0143","进出轴不在待机点时无法移动旋转轴"));
        }

        private (bool, string) UpDown_Axis_interference(int from, int to)
        {
            if (RobotManage.DisableUpdownProtect)
                return (false, "");

            if (InOut_Axis.IsInPosition(Config.InOut_P1))
                return (false, "");

            return (true, crc.GetString("Res0144","进出轴不在待机点时无法移动升降轴"));
        }
        public volatile bool hasAlarm = false;
        /// <summary>
        /// 整机启动变量,设置为false后将退出线程,只在停止时调用
        /// </summary>
        volatile bool mstart=false;
        public void Run() {
            mstart = true;
            PauseEvent?.Invoke(null, false);
            while (mstart) {
                try
                {
                    canRunning = DeviceCheck();
                    if (canRunning)
                    {
                        canRunning = SafeCheck();
                        //if (canRunning && !lastSafeCheckStatus){}
                        //lastSafeCheckStatus = canRunning;
                    }
                    Thread.Sleep(200);
                    if (!canRunning || !mstart)
                        continue;
                    if (runStatus == RunStatus.Running)
                    {
                        boxTransport.Process();
                        if (AutoInOutTestMode)
                            AutoInOutTestProcess();
                        else
                            StoreProcess();
                    }
                    else if (runStatus == RunStatus.HomeReset)
                    {
                        HomeReset();
                    }
                }
                catch (Exception ex)
                {
                    Msg.add(ex.ToString(), MsgLevel.alarm);
                    Msg.setlogones();
                }
                finally {
                    var m = Msg.get()[MachineSide];
                    ProcessMsgEvent?.Invoke(m);
                    ServerCM.ProcessMsg(m);
                    StoreStatus currnetstoreStatus= StoreStatus.None;
                    if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
                    {
                        hasAlarm = false;
                        //AlarmBuzzer.OFF();
                        if (ServerCM.storeStatus != StoreStatus.InStoreExecute
                            && ServerCM.storeStatus != StoreStatus.OutStoreExecute
                            && ServerCM.storeStatus != StoreStatus.ResetMove && ServerCM.storeStatus != StoreStatus.StoreOnline)
                        {
                            LogUtil.info($"{MachineSide} test storeStatus is {ServerCM.storeStatus} change to StoreOnline");
                            currnetstoreStatus = StoreStatus.StoreOnline;
                        }
                    }
                    else {
                        hasAlarm = true;
                        //AlarmBuzzer.ON();
                        currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
                    }
                    //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
                    if (!UserPause)
                        Msg.clear();
                    else
                        currnetstoreStatus = StoreStatus.Debugging;

                    if (currnetstoreStatus!=StoreStatus.None)
                        ServerCM.storeStatus = currnetstoreStatus;
                }
            }
            LogUtil.info($"{MachineSide}主线程已退出.");
        }
        public void Start() {
            if (ConfigHelper.Config.Get($"Device_{MachineSide}_Disable", false))
            {
                LogUtil.info($"{MachineSide}料仓被禁用,不启动.");
                return;
            }
            UserPause = false;
            Run();
        }
        public void Stop() {
            LogUtil.info(Name + ":Stop.");
            mstart = false;
            UserPause = false;
            AutoInOutTest = false;
            Thread.Sleep(300);
            Alarm(AlarmType.None);
            StopMove(true);

            PauseEvent?.Invoke(null, false);
        }
        public void ShutDown()
        {
            LogUtil.info(Name+":开始关闭系统.");
            door.Dispose();
            ServerCM.Dispose();
        }
        public void BeginHomeReset(bool firstRun=false) {
            if (!firstRun)
            {
                StopMove();
                Thread.Sleep(500);
            }
            OpenAllServo();
            boxTransport.Unlock();
            Alarm(AlarmType.None);
            runStatus = RunStatus.HomeReset;
            ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
            ResetMoveInfo.log("开始回原");
            ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
        }
        //强制回原
        bool forceHome=true;
        void HomeReset()
        {
            if (CheckWait(ResetMoveInfo))
                return;

            switch (ResetMoveInfo.MoveStep)
            {
                case MoveStep.H01_HomeReset:
                    ResetMoveInfo.log("开始回原");
                    ServerCM.storeStatus = StoreStatus.ResetMove;                      
                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                    
                    break;
                case MoveStep.H02_HomeReset_01:
                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                    ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
                    InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
                    door.CloseDoor(ResetMoveInfo);
                    break;
                case MoveStep.H02_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
                    break;
                case MoveStep.H03_HomeReset:                    
                    ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,回原,料叉P1待机点");
                    InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                    Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
                    UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);                    
                   break;
                case MoveStep.H04_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                    break;
                case MoveStep.H05_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,到P1待机点");
                    Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
                    UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
                    break;
                case MoveStep.H06_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                    ResetMoveInfo.log("压紧轴回原");
                    Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
                    break;
                case MoveStep.H07_HomeReset:
                    if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH))
                    {
                        Msg.add(crc.GetString("Res0145","回原时舱门口有料无法继续"), MsgLevel.alarm);
                    }
                    else {
                        ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
                    }
                    break;
                case MoveStep.H08_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
                    ResetMoveInfo.log("假设有料盘,送到单料口");
                    door.OpenDoor(ResetMoveInfo);
                    break;
                case MoveStep.H09_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,到P2,压紧轴p1");
                    Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
                    UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P2, Config.UpDown_P2_speed);
                    Comp_Axis.AbsMove(ResetMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
                    break;
                case MoveStep.H10_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
                    if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH))
                    {
                        Msg.add(crc.GetString("Res0145","回原时舱门口有料无法继续"), MsgLevel.alarm);
                    }
                    else
                    {
                        ResetMoveInfo.log("进出轴到p2单料们放料点");
                        InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P2, Config.InOut_P2_speed);
                    }                    
                    break;
                case MoveStep.H11_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
                    ResetMoveInfo.log("升降轴,到P3低点");
                    UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P3, Config.UpDown_P3_speed);
                    break;
                case MoveStep.H12_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
                    InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                    break;
                case MoveStep.H13_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                    ResetMoveInfo.log("关闭单料门");
                    door.CloseDoor(ResetMoveInfo);
                    break;
                case MoveStep.H14_HomeReset:
                    break;
                case MoveStep.H15_HomeReset:
                    break;
                case MoveStep.H16_HomeReset:
                    break;
                case MoveStep.HEND_HomeReset:
                    forceHome = false;
                    StoreMoveInfo.NewMove(MoveStep.Wait);
                    boxTransport.Reset();
                    ResetMoveInfo.log("回原完成");
                    ResetMoveInfo.EndMove();

                    runStatus = RunStatus.Running;
                    ServerCM.storeStatus = StoreStatus.StoreOnline;
                    break;
            }
        }
        public bool IgnoreSafecheck { get; set; }
        public bool haveFixpos { get; private set; }

        public bool IgnoreGratingSignal = false;

        bool lastSafeCheckStatus = true;
        bool SafeCheck() {
            bool ok = true;
            var ignorestring = "[" + crc.GetString("Res0146","已忽略") + "]";
            if (IOValue(IO_Type.BackDoor_Check,MainConfig).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck)// && IOValue(IO_Type.NGDoor_Open).Equals(IO_VALUE.HIGH))
                {
                    ok = false;
                    UserPause = true;
                }
                Msg.add(crc.GetString("Res0147","后维护被打开") + (ok ? ignorestring : ""), MsgLevel.warning);
            }            
            if (!lastSafeCheckStatus && ok)
            {
                SafetyDevice.ResumeAll();
            }
            lastSafeCheckStatus = ok;
            return ok;
        }

        void DeviceSuddenStop() {           
            if (lastSafeCheckStatus)
            {
                AxisBean.StopMultiAxis(AxisBean.List[MachineSide]);
                MoveInfo.List[MachineSide].ForEach((m) => { m.CanWhileCount = 5; });
                SafetyDevice.PauseAll();
                if (runStatus == RunStatus.HomeReset)
                {
                    ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
                }
            }
        }

        /// <summary>
        /// 最后一次气压检测变为0的时间
        /// </summary>
        DateTime lastAirCloseTime = DateTime.MinValue;

        internal DateTime checkAlarmTime = DateTime.Now;
        public bool DeviceCheck() {
            bool ok = true;
            isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN,RobotManage.Config).Equals(IO_VALUE.LOW);
            if (UserPause)
            {
                Msg.add(crc.GetString("Res0133","系统暂停"), MsgLevel.warning);
                DeviceSuddenStop();
                lastSafeCheckStatus = false;
                ok = false;
                return ok;
            }
            else if (isInSuddenDown)
            {
                Alarm(AlarmType.SuddenStop);
                Msg.add(crc.GetString("Res0134","急停中"), MsgLevel.alarm);
                ok = false;
            }
            else if (alarmType != AlarmType.None) {
                {
                    Msg.add(crc.GetString("Res0148","系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
                    ok = false;
                }
            }
            if (AutoInOutTestMode)
            {
                Msg.add(crc.GetString("Res0149","进出库调试模式"), MsgLevel.info);
                //ok = false;
            }
            
            if (alarmType!=AlarmType.SuddenStop)
            {
                TimeSpan span = DateTime.Now - checkAlarmTime;
                if (span.TotalSeconds > 2)
                {
                    checkAlarmTime = DateTime.Now;
                    foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
                    {
                        if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
                        {
                            Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                + crc.GetString("Res0150","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
                            ok = false;
                            LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
                        }
                    }
                }
            }
            return ok;
        }

        public void IgnoreX09() {
            boxTransport.IgnoreX09 = true;
            LogUtil.info("按下X09忽略");
        }
    }
}