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 料仓原点返回和重置步骤  0010开始

        /// <summary>
        /// BOX复位：轴三进出轴先返回原点
        /// </summary>
        BOX_H01_InOutBack = 011,

        /// <summary>
        /// 顶升下降
        /// </summary>
        BOX_H02_TopDown = 012,
        /// <summary>
        /// BOX复位：线体停止， ，流水线先转动3000
        /// </summary>
        BOX_H03_LineRun = 013,


        ///// <summary>
        ///// BOX复位：轴三返回P1点，入料门关闭NG门下降
        ///// </summary>
        //BOX_H04_InOutToP1 = 014,
        /// <summary>
        ///  BOX复位：升降轴，旋转轴，压紧轴原点返回
        /// </summary>
        BOX_H05_OtherAxisBack = 015,
        /// <summary>
        ///BOX复位： 旋转轴返回P1
        /// </summary>
        BOX_H06_MiddleAxisToP1 = 016,

        /// <summary>
        /// BOX回待机点：叉子走到P1
        /// </summary>
        BOX_H54_InOutToP1 = 54,
        /// <summary>
        /// BOX回待机点：压紧轴回原点
        /// </summary>
        BOX_H55_CompHome = 55,
        /// <summary>
        ///BOX回待机点： 关闭门，旋转轴到P1,升降轴到P1
        /// </summary>
        BOX_H56_OtherAxisToP1 = 56,
        #endregion

        #region 料架进入料仓步骤 1000开始



        /// <summary>
        /// 通知agv准备带料架agv
        /// </summary>
        BI_00_ReadyShelf = 1000,
        /// <summary>
        /// 料架入库：入料口移门打开
        /// </summary>
        BI_01_DoorOpen = 1001,
        /// <summary>
        /// 料架入库：等待agvReady
        /// </summary>
        BI_02_WaitReady=1002,
        /// <summary>
        /// 料架入库：线体正转，等待入料口检测到信号
        /// </summary>
        BI_03_LineRun = 1003,
        /// <summary>
        /// 等待取料位检测到信号
        /// </summary>
        BI_04_WaitTakeSingle = 1004,
        /// <summary>
        /// 料架入库：取料位检测到信号，停止线体正转
        /// </summary>
        BI_05_LineStop = 1005,
        /// <summary>
        /// 料架入库：入料口移门关闭，等待1000
        /// </summary>
        BI_06_DoorClose = 1006,
        /// <summary>
        /// 线体再正转1秒
        /// </summary>
        BI_07_LineRun = 1007,
        /// <summary>
        /// 料架入库：定位装置上升
        /// </summary>
        BI_08_LocationUp = 1008,
        /// <summary>
        /// 料架入库：顶升装置上升
        /// </summary>
        BI_09_TopCylinderUp = 1009,

        #endregion

        #region 出库步骤  2000开始



        /// <summary>
        ///料仓出库：叉子先运动到P1
        /// </summary>
        SO_01_InoutBack = 2002,

        /// <summary>
        ///料仓出库，，顶升气缸下降，先检测料架
        /// </summary>
        SO_02_TopDown  ,

        /// <summary>
        ///  料仓出库，，所有轴运行到库位,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_03_ToPosition,
        /// <summary>
        ///  料仓出库，，叉子进入库位中，  进出轴到库位P3
        /// </summary>
        SO_04_ToPos,

        /// <summary>
        ///料仓出库，， 库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)
        /// </summary>
        SO_05_GetReel,

        /// <summary>
        /// 料仓出库，，压紧轴开始缓慢压紧
        /// </summary>
        SO_06_StartCompress,
        /// <summary>
        /// 料仓出库，，检测到料叉压紧确认信号，再次向下压紧指定的值
        /// </summary>
        SO_07_ComDownMove,


        /// <summary>
        ///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点）
        /// </summary>
        SO_08_InoutBack,

        /// <summary>
        /// 料仓出库,等待压紧信号确认
        /// </summary>
        SO_09_CheckComSig,

        /// <summary>
        /// 料仓出库，走到料架位置，旋转轴至P20，升降轴至P102,  
        /// </summary>
        SO_10_ToShelfPosition, 
        /// <summary>
        /// 料仓出库，叉子到料架，进出轴至P20
        /// /// </summary>
        SO_11_ToShelf,
        /// <summary>
        /// 料仓出库，，把物品放下，压紧轴到P1，升降轴至P20
        /// </summary>
        SO_12_PutReel,
        /// <summary>
        /// 料仓出库，，叉子从出料口返回，，进出轴到P1
        /// </summary>
        SO_13_InoutBack,

        /// <summary>
        /// 料仓出库，，升降轴返回，，  轴2至P1（ 待机点），顶升气缸下降
        /// </summary>
        SO_14_GoBack,



        #endregion

        #region 料架入库步骤，3000开始
        /// <summary>
        /// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库
        /// </summary>
        BI_10_StartGetTray = 3010,

        /// <summary>
        /// 料架取料：叉子后退到待机点P1
        /// </summary>
        BI_11_InoutToP1 = 3011,
        /// <summary>
        /// 料架取料：升降轴移动到P101低点，旋转轴移动到P101点，压紧轴到压紧前点
        /// </summary>
        BI_12_MoveToShelf = 3012,
        /// <summary>
        /// 料架取料：叉子前进到P101点
        /// </summary>
        BI_13_InoutToP101 = 3013,
        /// <summary>
        /// 料架取料：升降轴上升到P102点
        /// </summary>
        BI_14_UpdownToP102 = 3014,
        /// <summary>
        /// 料架取料：压紧轴开始缓慢压紧
        /// </summary>
        BI_15_StartCompress = 3015,
        /// <summary>
        /// 料架取料：检测到料叉压紧确认信号，再次向下压紧指定的值
        /// </summary>
        BI_16_ComDownMove = 3016,
        /// <summary>
        /// 料架取料：记录压紧高度，叉子后退到P1
        /// </summary>
        BI_17_InoutBack = 3017,


        //TODO 后退到待机点，然后去扫码点，放下料盘，扫码，扫码后再拿起料盘

        /// <summary>
        /// 扫码：升降轴移动到P2,旋转轴移动到P1
        /// </summary>
        BI_21_ToScanPosition = 3021,

        /// <summary>
        /// 扫码：进出轴到P2
        /// </summary>
        BI_22_InOutToP2,
        /// <summary>
        /// 扫码：升降轴缓慢下降到P1，压紧轴返回压紧前点
        /// </summary>
        BI_23_PutTrayDown,
        /// <summary>
        /// 扫码：进出轴返回待机点
        /// </summary>
        BI_24_InOutToP1,

        /// <summary>
        /// 扫码：记录宽度，开始扫码
        /// </summary>
        BI_25_ScanCode,
        /// <summary>
        /// 扫码：扫码成功，从服务器获取库位号，设置位置参数
        /// </summary>
        BI_26_GetPosId,

        /// <summary>
        /// 扫码：获取库位号成功，进出轴到P2
        /// </summary>
        BI_27_InoutToP2,

        /// <summary>
        /// 扫码：升降轴到P1,压紧轴压紧
        /// </summary>
        BI_28_GetScanPTray,
        /// <summary>
        /// 扫码：进出轴返回
        /// </summary>
        BI_29_InoutBackP1,

        /// <summary>
        /// 料架取料: 获取库位号完成，设置位置参数， 准备入库
        /// </summary>
        BI_30_SetInstoreParam = 3030,

        /// <summary>
        /// 入库。。移动到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
        /// </summary>
        BI_51_MoveToBag = 3051,
        /// <summary>
        /// 入库。。叉子进入库位中，进出轴到库位P3
        /// </summary>
        BI_52_DeviceToBag = 3052,
        /// <summary>
        /// 入库。。放下物品，升降轴到库位缓冲点P4，压紧轴到P3
        /// </summary>
        BI_53_PutWareToBag = 3053,
        /// <summary>
        /// 入库。。叉子从库位中返回，进出轴到P1
        /// </summary>
        BI_54_DeviceBackFromBag = 3054,
        /// <summary>
        /// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
        /// </summary>
        BI_55_GoBack = 3055,

        /// <summary>
        /// 送出料盘：扫码或获取库位失败，升降轴移动到NG料门口上端，旋转轴移动到NG料门口
        /// </summary>
        BI_71_ToNGDoor = 3071,
        /// <summary>
        /// 送出料盘：NG料口升降门上升
        /// </summary>
        BI_72_NGDoorUp = 3072,
        /// <summary>
        /// 送出料盘：进出轴前进到NG料门口位置
        /// </summary>
        BI_73_InoutToNGDoor = 3073,
        /// <summary>
        /// 送出料盘：升降轴缓慢下降，放下料盘
        /// </summary>
        BI_74_UpdownDown = 3074,
        /// <summary>
        /// 送出料盘：叉子后退到P1
        /// </summary>
        BI_75_InoutToP1 = 3075,
        /// <summary>
        /// 送出料盘：关门NG料门，送出料盘结束
        /// </summary>
        BI_76_NGDoorDown = 3076,
        /// <summary>
        /// NG流水线转动指定的时间3000
        /// </summary>
        BI_77_NGLineRun = 3078,
        #endregion

        #region 把料架送出步骤 4000开始

        /// <summary>
        /// 送出空料架：顶升气缸下降
        /// </summary>
        BS_01_TopDown = 4001,
        /// <summary>
        /// 送出空料架：定位气缸下降
        /// </summary>
        BS_02_LocatinDown = 4002,

        /// <summary>
        /// 通知AGV准备空车
        /// </summary>
        BS_03_WaitEmptyAgv = 4003,
        /// <summary>
        /// 送出空料架：打开仓门
        /// </summary>
        BS_04_DoorOpen = 4004,
        /// <summary>
        /// 送出空料架：等待agvReady
        /// </summary>
        BS_05_WaitReady=4005,
        /// <summary>
        /// 送出空料架：线体反转
        /// </summary>
        BS_06_LineBackRun = 4006,
        /// <summary>
        /// 送出空料架：等待取料工位无信号
        /// </summary>
        BS_07_WaitShelfOut=4007,
        /// <summary>
        /// 送出空料架：等待取料工位无信号，入料口有信号
        /// </summary>
        BS_08_WaitLineIn = 4008,
        /// <summary>
        /// 送出空料架：再转动3000时间
        /// </summary>
        BS_09_WaitTime = 4009,
        /// <summary>
        /// 送出空料架：等待AGV离开后关闭仓门
        /// </summary>
        BS_10_WaitAGVLeave = 4010,
        /// <summary>
        /// 送出空料架：关闭仓门
        /// </summary>
        BS_11_CloseDoor = 4011, 
        #endregion

    }

    public enum StoreAlarmType
    {
        /// <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,
    }
}