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

namespace DeviceLibrary
{
    public partial class MainMachine : IRobot
    {
        public string Name { get; set; } = "XLC";
        private bool _canRunning = true;
        public bool canRunning
        {
            get { return _canRunning; }
            set
            {
                if (_canRunning != value) {
                    Msg.setlogones();
                }
                _canRunning = value;
            }
        }
        public bool isBusy { get; set; } = false;
        public bool isAlarm { get; set; } = false;
        public RunStatus runStatus { get; set; } = RunStatus.Stop;
        public Robot_Config Config { get; set; }
        public bool UserPause { get; set; } = false;


        MoveInfo ResetMoveInfo;
        /// <summary>
        /// 右侧移动信息
        /// </summary>
        public MoveInfo InMoveInfo;
        public MoveInfo OutMoveInfo;
        MoveInfo StoreMoveInfo;
        MoveInfo AIOTMoveInfo;

        public delegate void ProcessMsg(List<Msg> msg);
        public event ProcessMsg ProcessMsgEvent;

        //public delegate void ProcessMoveinfo(List<MoveInfo> moveinfoList);
        //public event ProcessMoveinfo ProcessMoveinfoEvent;

        internal AxisBean XAxis;
        internal AxisBean YAxis;
        internal AxisBean ZAxis;
        AxisBean InLift_Moto;
        AxisBean OutLift_Moto;

        LineRunMonitor LineIn;
        LineRunMonitor LineOut;

        LiftMonitor InSideLift;
        LiftMonitor OutSideLift;

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

        ServerCommunication ServerCM = new ServerCommunication();
        /// <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;



        public MainMachine(Robot_Config _config) {
            Config = _config;            
            
            InMoveInfo = new MoveInfo("A侧取料");
            InMoveInfo.SetStateDelegate(InState);            
            StoreMoveInfo = new MoveInfo("出入库");
            StoreMoveInfo.SetStateDelegate(StoreState);
            OutMoveInfo = new MoveInfo("B侧出料");
            OutMoveInfo.SetStateDelegate(OutState);
            ResetMoveInfo = new MoveInfo("重置");
            AIOTMoveInfo = new MoveInfo("出入库测试");
            //MoveInfo.List.Remove(AIOTMoveInfo);

            #region 初始化led灯
            AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr());
            StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr());
            RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr());
            NG_Led = new Led(Config.DOList[IO_Type.MaterialNG_Led].GetIOAddr());
            #endregion
            #region 初始化伺服轴
            XAxis = new AxisBean(Config.XAxis, Name);
            XAxis.interference += XAxis_interference;
            YAxis = new AxisBean(Config.YAxis, Name);
            YAxis.interference += YAxis_interference;
            ZAxis = new AxisBean(Config.ZAxis, Name);
            ZAxis.interference += ZAxis_interference;
            InLift_Moto = new AxisBean(Config.InLift_Moto, Name);
            OutLift_Moto = new AxisBean(Config.OutLift_Moto, Name);
            #endregion
            LineIn = new LineRunMonitor("入料滚筒", Config.DOList[IO_Type.InMoto_Run].GetIOAddr());
            LineOut = new LineRunMonitor("出料滚筒", Config.DOList[IO_Type.OutMoto_Run].GetIOAddr());

            InSideLift = new LiftMonitor(IO_Type.InLift_Up, IO_Type.InLift_Down, IO_Type.InLift_Break, InLift_Moto, Config.InLift_Moto_Speed);
            OutSideLift = new LiftMonitor(IO_Type.OutLift_Up, IO_Type.OutLift_Down, IO_Type.OutLift_Break, OutLift_Moto, Config.OutLift_Moto_Speed);

            boxTransport = new BoxTransport(Config, this);

            boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
            {
                InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
            };
            //BoxTransport_InOutEndProcessEvent;
            //ProcessMsgEvent += MainMachine_ProcessMsgEvent;

            AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });

            LedProcessInit();
        }
        private (bool, string) ZAxis_interference(int from, int to)
        {
            if (to==Config.Zaxis_P1)
                return (false, "");

            if (XAxis.GetAclPosition() > Config.Xaxis_P1 + Config.XAxis.CanErrorCountMax)
            {
                //if (to=Config.y)
            }
            else
            {
                if (GetYAxisLevel() == 0)
                {
                    return (true, "升降机构不在托盘进出位置");
                }
            }
            return (false, "");
        }

        private (bool, string) YAxis_interference(int from, int to)
        {
            if (XAxis.GetAclPosition() > Config.Xaxis_P1 + Config.XAxis.CanErrorCountMax)
            {
                //在出入库口

                //if (to=Config.y)
            }
            else { ///在料仓        
                if (!ZAxis.IsInPosition(Config.Zaxis_P1) && Math.Abs(from - to) > 1000 * 10) {
                    return (true, "进出轴伸出时升降轴不可以大幅运动");
                }

            }
            return (false, "");
        }

        private (bool, string) XAxis_interference(int from, int to)
        {
            //行走机构目的地小于P1待机点
            if (to > Config.Xaxis_P1+ Config.XAxis.CanErrorCountMax) {
                //上下周小于上下周待机点
                if (YAxis.GetAclPosition() < Config.Yaxis_P1 + Config.YAxis.CanErrorCountMax) {
                    return (true, "行走机构托盘与进出库线体干涉,请升高升降轴");
                }
            }
            if (!ZAxis.IsInPosition(Config.Zaxis_P1)) {
                return (true, "周转箱托盘没有收回,无法移动行走机构");
            }
            return (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>
        bool mstart=true;
        public void Run() {
            mstart = true;
            while (mstart) {
                try
                {
                    canRunning = DeviceCheck();
                    if (canRunning)
                    {
                        BtnProcess();
                        canRunning = SafeCheck();
                        if (canRunning && !lastSafeCheckStatus)
                        { 
                        
                        }
                        lastSafeCheckStatus = canRunning;
                    }
                    Thread.Sleep(200);
                    if (!canRunning || !mstart)
                        continue;
                    if (runStatus == RunStatus.Running)
                    {
                        ioMonitor();
                        InProcess();
                        boxTransport.Process();
                        if (RobotManage.mainMachine.AutoInOutTest)
                            AutoInOutTestProcess();
                        else
                            StoreProcess();
                        OutProcess();
                    }
                    else if (runStatus == RunStatus.HomeReset)
                    {
                        HomeReset();
                    }
                }
                catch (Exception ex)
                {
                    Msg.add(ex.ToString(), MsgLevel.warning);
                    Msg.setlogones();
                }
                finally {
                    var m = Msg.get();
                    ProcessMsgEvent?.Invoke(m);
                    ServerCM.ProcessMsg(m);
                    //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
                    if (!UserPause)
                        Msg.clear();
                }
            }
            LogUtil.info("主线程已退出.");
        }
        public void Stop() {
            mstart = false;
            Thread.Sleep(300);
            Alarm(AlarmType.None);
            StopMove(true);
            IOMove(IO_Type.InMoto_Run, IO_VALUE.LOW);
            IOMove(IO_Type.OutMoto_Run, IO_VALUE.LOW);
        }
        public void BeginHomeReset(bool firstRun=false) {
            if (!firstRun)
            {
                StopMove();
                Thread.Sleep(500);
            }
            OpenAllServo();
            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.NextMoveStep(MoveStep.H02_HomeReset);
                    ResetMoveInfo.log("开始回原,进出轴回原");

                    ZAxis.HomeMove(ResetMoveInfo, forceHome);
                    break;
                case MoveStep.H02_HomeReset:                    
                    if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                        IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                    {
                        Msg.add("料叉上有没有放正的物料", MsgLevel.warning);
                        RobotManage.UserPause("回源时料叉上有物料");
                        return;
                    }
                    ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
                    ResetMoveInfo.log("开始回原,行走机构,回原");
                    XAxis.HomeMove(ResetMoveInfo, forceHome);                    
                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                    break;
                case MoveStep.H03_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                    YAxis.HomeMove(ResetMoveInfo, forceHome);
                    ResetMoveInfo.log("正在回原 ,升降轴,回原");
                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                    break;
                case MoveStep.H04_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                    ResetMoveInfo.log("正在回原,料叉P1待机点");
                    XAxis.AbsMove(ResetMoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
                    break;
                case MoveStep.H05_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
                    ResetMoveInfo.log("正在回原,行走机构,升降轴,到P1待机点,入口顶升下降,出口顶升上升");
                    YAxis.AbsMove(ResetMoveInfo, Config.Yaxis_P1,Config.Yaxis_P1_speed);
                    XAxis.AbsMove(ResetMoveInfo, Config.Xaxis_P1,Config.Xaxis_P1_speed);
                    OutSideLift.LiftUp(ResetMoveInfo);
                    InSideLift.LiftUp(ResetMoveInfo);
                    break;
                case MoveStep.H06_HomeReset:
                    if (IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH) &&
                        IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.LOW) &&
                        IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.LOW))
                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                        ResetMoveInfo.log("进出轴上有周转箱");

                    }
                    else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                             IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                    {
                        Msg.add("料叉上有没有放正的物料", MsgLevel.warning);
                        RobotManage.UserPause("回源时料叉上有物料");
                        return;
                    }
                    else {
                        ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                        ResetMoveInfo.log("进出轴上没有周转箱");
                    }
                    break;
                case MoveStep.H07_HomeReset:
                    if (OutMoveInfo.MoveStep == MoveStep.Wait && IsOutLiftEmpty) {
                        ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
                        boxTransport.Start(null, new BoxStorePosition(Config, StoreSide.B), StoreMoveType.ReturnHome);
                        ResetMoveInfo.log("进出轴上有周转箱,开始送到出口");
                        ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
                    }
                    break;
                case MoveStep.H08_HomeReset:
                    boxTransport.Process();
                    if (boxTransport.IsComplateOrFree)
                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                    }
                    break;
                case MoveStep.HEND_HomeReset:
                    forceHome = false;
                    ResetMoveInfo.log("回原完成");
                    ResetMoveInfo.EndMove();
                    runStatus = RunStatus.Running;
                    break;
            }
        }
        public bool IgnoreSafecheck=false;
        public bool IgnoreGratingSignal = false;

        bool lastSafeCheckStatus = true;
        bool SafeCheck() {
            bool ok = true;
            if (IOValue(IO_Type.InEntry_SafetyGrating).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck && !IgnoreGratingSignal
                    && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }else if (IOValue(IO_Type.OutExit_SafetyGrating).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck && !IgnoreGratingSignal
                    && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }

            if (IOValue(IO_Type.InSide_SafetyGrating).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck && !IgnoreGratingSignal
                    && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }
            else if (IOValue(IO_Type.OutSide_SafetyGrating).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck && !IgnoreGratingSignal
                    && IOValue(IO_Type.OutExitCar_Check).Equals(IO_VALUE.LOW))
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }

            if (IOValue(IO_Type.FrontDoor_Check).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck)
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("前门没有关闭" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }
            if (IOValue(IO_Type.BackDoor_Check).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck)
                {
                    ok = false;
                    DeviceSuddenStop();
                }
                Msg.add("后门没有关闭" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
            }
            
            return ok;
        }

        void DeviceSuddenStop() {
            if (lastSafeCheckStatus)
            {
                //lastSafeCheckStatus = false;
                //AxisBean.StopMultiAxis(new List<AxisBean>() { Take_Middle_Axis, Take_UpDown_Axis, Label_X_Axis,Label_Y_Axis, Label_Z_Axis, Label_R_Axis });
                AxisBean.StopMultiAxis(AxisBean.List);
                MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
                LineIn.Pause();
                LineOut.Pause();
                if (runStatus == RunStatus.HomeReset)
                {
                    ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
                }
            }
        }
        void DeviceResume() {
            LineIn.Resume();
            LineOut.Resume();
        }

        /// <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;
            if (UserPause)
            {
                Msg.add("用户暂停", MsgLevel.warning);
                DeviceSuddenStop();
                ok = false;
                return ok;
            }
            else if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
            {
                Alarm(AlarmType.SuddenStop);
                Msg.add("急停中", MsgLevel.warning);
                ok = false;
            }
            else if (alarmType == AlarmType.SuddenStop) {
                //if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
                //{
                //    Alarm(AlarmType.None);
                //}
                //else
                {
                    Msg.add("系统需要重置", MsgLevel.warning);
                    ok = false;
                }
            }
            if (RobotManage.InoutDebugMode)
            {
                Msg.add("进出库调试模式", MsgLevel.warning);
                ok = false;
            }
            if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
            {
                if (lastAirCloseTime == DateTime.MinValue)
                    lastAirCloseTime = DateTime.Now;

                TimeSpan span = DateTime.Now - lastAirCloseTime;
                if (span.TotalSeconds > RobotManage.Config.AirCheckSeconds)
                {
                    ok = false;
                    Msg.add("气压不足", MsgLevel.warning);
                }
            }
            else {
                lastAirCloseTime = DateTime.MinValue;
            }
            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($"{configMoveAxis.Explain}[{configMoveAxis.GetAxisValue()}]:运动报警", MsgLevel.warning);
                            ok = false;
                        }
                    }
                }
            }
            return ok;
        }

        int GetYAxisLevel() {
            if (IOValue(IO_Type.Lift_1Level_Check).Equals(IO_VALUE.HIGH))
                return 1;
            if (IOValue(IO_Type.Lift_2Level_Check).Equals(IO_VALUE.HIGH))
                return 2;
            if (IOValue(IO_Type.Lift_3Level_Check).Equals(IO_VALUE.HIGH))
                return 3;
            if (IOValue(IO_Type.Lift_4Level_Check).Equals(IO_VALUE.HIGH))
                return 4;
            if (IOValue(IO_Type.Lift_5Level_Check).Equals(IO_VALUE.HIGH))
                return 5;
            if (IOValue(IO_Type.Lift_6Level_Check).Equals(IO_VALUE.HIGH))
                return 6;
            return 0;
        }

    }
}