using log4net; 
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace OnlineStore.DeviceLibrary
{
    /// <summary>
    /// 康泰克单台自动料仓
    /// </summary>
    public abstract class KTK_Store
    {
        /// <summary>
        /// 料仓状态
        /// </summary>
        public LineRunStatus runStatus = LineRunStatus.Wait;
        /// <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 LineStatus lineStatus = LineStatus.ResetMove;

        public string WarnMsg = "";
        private WarnParam warnParam = new WarnParam();
        public DeviceConfig baseConfig = null;
        public string Name { get; set; }
        public int DeviceID { get; set; }
        /// <summary>
        /// 定时器
        /// </summary>
        protected System.Timers.Timer mainTimer;

        private bool isInit = false;

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

        /// <summary>
        /// 最后一次气压检测变为0的时间
        /// </summary>
        public DateTime lastAirCloseTime = DateTime.Now;
        /// <summary>
        /// 是否在急停中
        /// </summary>
        public bool isInSuddenDown = false;
        /// <summary>
        /// 是否没有检测到气压
        /// </summary>
        public bool isNoAirCheck = false;

        //protected int NeedCheckSafetyLight = 0;
        /// <summary>
        /// 是否再报警中
        /// </summary>
        public LineAlarmType alarmType = LineAlarmType.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 ConcurrentDictionary<string, IO_VALUE> DILastValueMap = new ConcurrentDictionary<string, IO_VALUE>();

        public object lastDiListLock = "";
        public void addLastDI(string type, IO_VALUE value)
        {
            try
            {
                //lock (lastDiListLock)
                //{
                //if (DILastValueMap.ContainsKey(type))
                //{
                //    DILastValueMap.TryRemove(type, out IO_VALUE v);
                //}
                DILastValueMap.AddOrUpdate(type, value, (k, v) => value);
                //}
            }
            catch (Exception ex)
            {
                LogUtil.info(ex.ToString());
            }
        }

        /// <summary>
        /// 运动处理
        /// </summary> 
        protected bool isInPro = false;
        protected virtual void BusyMoveProcess()
        {
            //if (isInPro)
            //{
            //    return;
            //}
            isInPro = true;
            try
            {
                switch (MoveInfo.MoveType)
                {
                    case LineMoveType.InStore:
                        InStoreProcess();
                        isInPro = false;
                        break;
                    case LineMoveType.OutStore:
                        OutStoreProcess();
                        isInPro = false;
                        break;
                    case LineMoveType.ReturnHome:
                        ResetProcess();
                        isInPro = false;
                        break;
                    case LineMoveType.Reset:
                        ResetProcess();
                        isInPro = false;
                        break;
                    default: break;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("BusyMoveProcess出错：", ex);
            }
            isInPro = false;
        }
        protected void SaveAlarmInfo(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
        {
            alarmMsg = alarmMsg.Replace(Name, "");
            int inoutStatus = 0;
            if (storeMoveType.Equals(LineMoveType.InStore))
            {
                inoutStatus = 1;
            }
            else if (storeMoveType.Equals(LineMoveType.InStore))
            {
                inoutStatus = 2;
            }
            int aType = 0;
            switch (alarmType)
            {
                case LineAlarmType.AxisMoveError:
                    aType = 2;
                    break;
                case LineAlarmType.AxisAlarm:
                    aType = 2;
                    break;
                case LineAlarmType.SuddenStop:
                    aType = 1;
                    alarmDetial = "1";
                    break;
                case LineAlarmType.NoAirCheck:
                    aType = 1;
                    alarmDetial = "2";
                    break;
                case LineAlarmType.IoSingleTimeOut:
                    aType = 3;
                    break;

                default: break;
            }
            alarmInfo = new AlarmInfo(DeviceID, aType, alarmDetial, alarmMsg, inoutStatus);
        }

        /// <summary>
        /// 没有严重的报警
        /// </summary>
        /// <returns></returns>
        internal bool NoErrorAlarm()
        {
            if (isInSuddenDown || isNoAirCheck)
            {
                return false;
            }
            if (alarmType > LineAlarmType.IoSingleTimeOut)
            {
                return false;
            }
            return true;
        }
        internal bool NoAlarm()
        {
            if (isInSuddenDown || isNoAirCheck)
            {
                return false;
            }
            if (alarmType.Equals(LineAlarmType.None))
            {
                return true;
            }
            return false;
        }
        /// <summary>
        /// 开始运行
        /// </summary>
        public abstract bool StartRun(bool isDebug = false);
        /// <summary>
        /// 停止运行
        /// </summary>
        public abstract void StopRun();
        /// <summary>
        /// 报警
        /// </summary>
        /// <param name="alarmType"></param>
        public abstract void Alarm(LineAlarmType alarmType);
        /// <summary>
        /// 重置（夹料装置状态不变）
        /// </summary>
        public abstract bool Reset();

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

        /// <summary>
        /// 重置处理
        /// </summary>
        protected abstract void ResetProcess();


        /// <summary>
        /// 初始化
        /// </summary>
        protected virtual void Init()
        {
            if (!isInit)
            {
                mainTimer = new System.Timers.Timer();
                mainTimer.Enabled = false;
                mainTimer.Interval = 300;
                mainTimer.Elapsed += mainTimer_Elapsed;
                mainTimer.AutoReset = true;
                isInit = true;
            }
        }

        /// <summary>
        /// 移动信息
        /// </summary>
        public LineMoveInfo MoveInfo = null;

        /// <summary>
        /// 定时处理，监听信号，监听IO
        /// </summary> 
        protected abstract void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e);

        #region 出库
        /// <summary>
        /// 开始出库运动
        /// </summary> 
        public abstract bool StartOutStoreMove(InOutParam param);
        protected abstract void OutStoreProcess();
        #endregion

        #region 入库
        /// <summary>
        /// 开始入库移动移动
        /// </summary> 
        public abstract bool StartInStoreMove(InOutParam param);
        protected abstract void InStoreProcess();
        #endregion

    
        public string GetRunStr()
        {
            string sta = "运行中";
            string aa = "";
            switch (runStatus)
            {
                case LineRunStatus.Busy:
                    sta = "忙碌";
                    break;
                case LineRunStatus.HomeMoving:
                    sta = "原点返回";
                    break;
                case LineRunStatus.Reset:
                    sta = "重置";
                    break;
                case LineRunStatus.Runing:
                    sta = "运行中";
                    break;
                case LineRunStatus.Wait:
                    sta = "等待启动";
                    break;
            }
            if (runStatus > LineRunStatus.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 (lineStatus)
                {
                    case LineStatus.Debugging:
                        aa = "设备调试中";
                        break;
                    //case LineStatus.InStoreEnd:
                    //    aa = "料盘入仓位完成";
                    //    break;
                    case LineStatus.InStoreExecute:
                        aa = "入库执行中";
                        break;
                    case LineStatus.InTrouble:
                        aa = "故障中";
                        break;
                    //case LineStatus.OutStoreBoxEnd:
                    //    aa = "料盘出仓位完成";
                    //    break;
                    case LineStatus.OutStoreExecute:
                        aa = "出库执行中";
                        break;
                    case LineStatus.StoreOnline:
                        aa = "设备联机";
                        break;
                    case LineStatus.SuddenStop:
                        aa = "急停中";
                        break;
                        //case LineStatus.OutMoveExecute:
                        //    aa = "出库完成";
                        //    break;
                        //case LineStatus.InStoreFaild:
                        //    aa = "入库失败（" + WarnMsg + "）";
                        //    break;
                        //case LineStatus.OutStoreFaild:
                        //    aa = "出库失败（" + WarnMsg + "）";
                        //    break;

                }
                if (isInSuddenDown)
                {
                    aa = "急停中";
                } else if (isNoAirCheck)
                {
                    aa = "无气压信号";
                }
            }

            if (!aa.Equals(""))
            {
                return sta + "_" + aa;
            }
            else
            {
                return sta;
            }
        }
        public static string GetRunStr(LineStatus ls, LineRunStatus runs)
        {
            string sta = "运行中";
            string aa = "";
            switch (runs)
            {
                case LineRunStatus.Busy:
                    sta = "忙碌";
                    break;
                case LineRunStatus.HomeMoving:
                    sta = "原点返回";
                    break;
                case LineRunStatus.Reset:
                    sta = "重置";
                    break;
                case LineRunStatus.Runing:
                    sta = "运行中";
                    break;
                case LineRunStatus.Wait:
                    sta = "等待启动";
                    break;
            }
            if (runs > LineRunStatus.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 (ls)
                {
                    case LineStatus.Debugging:
                        aa = "设备调试中";
                        break;
                    //case LineStatus.InStoreEnd:
                    //    aa = "料盘入仓位完成";
                    //    break;
                    case LineStatus.InStoreExecute:
                        aa = "入库执行中";
                        break;
                    case LineStatus.InTrouble:
                        aa = "故障中";
                        break;
                    //case LineStatus.OutStoreBoxEnd:
                    //    aa = "料盘出仓位完成";
                    //    break;
                    case LineStatus.OutStoreExecute:
                        aa = "出库执行中";
                        break;
                    case LineStatus.StoreOnline:
                        aa = "设备联机";
                        break;
                    case LineStatus.SuddenStop:
                        aa = "急停中";
                        break;
                        //case LineStatus.OutMoveExecute:
                        //    aa = "出库完成";
                        //    break;
                        //case LineStatus.InStoreFaild:
                        //    aa = "入库失败（" + WarnMsg + "）";
                        //    break;
                        //case LineStatus.OutStoreFaild:
                        //    aa = "出库失败（" + WarnMsg + "）";
                        //    break;
                }
            }

            if (!aa.Equals(""))
            {
                return sta + "_" + aa;
            }
            else
            {
                return sta;
            }
        }
        public bool CylinderIsOk(string IoLowType, string IoHighType)
        {
            if (IOManager.DIValue(IoLowType, DeviceID).Equals(IO_VALUE.LOW) && IOManager.DIValue(IoHighType, DeviceID).Equals(IO_VALUE.HIGH)) {
                return true;
            }
            return false;
        }
        public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType, bool isCheckMove = false)
        {
            try
            {

                if (baseConfig.DType.Equals(DeviceType.FeedingEquip))
                {
                    if (!baseConfig.DOList.ContainsKey(IoLowType))
                    {
                        return;
                    }
                    if (!baseConfig.DOList.ContainsKey(IoHighType))
                    {
                        return;
                    }
                }
                if (moveInfo != null)
                {


                    if (IoHighType.Equals(IO_Type.ClampCylinder_Slack) || IoHighType.Equals(IO_Type.ClampCylinder_Tighten) ||
                        IoHighType.Equals(IO_Type.UpDownCylinder_Down) || IoHighType.Equals(IO_Type.UpDownCylinder_Up)
                        )
                    {
                        moveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
                    }
                    else if (IoHighType.Equals(IO_Type.BeforeAfterCylinder_After) || IoHighType.Equals(IO_Type.BeforeAfterCylinder_Before))
                    {
                        moveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
                    }
                    //如果是进仓门口 夹紧
                    if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Slack)))
                    {
                        moveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
                        moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
                    }
                    else if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Tighten)))
                    {
                        //进仓门口放松
                        moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                        moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
                    }
                    else
                    {
                        moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
                        moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
                    }
                }
                if (isCheckMove)
                {
                    CheckAndMove(IoLowType, IO_VALUE.LOW);
                    CheckAndMove(IoHighType, IO_VALUE.HIGH);
                }
                else
                {
                    IOMove(IoLowType, IO_VALUE.LOW);
                    IOMove(IoHighType, IO_VALUE.HIGH);
                }
            } catch (Exception ex)
            {
                LogUtil.error(Name + "CylinderMove [" + moveInfo.Name + "] [" + IoLowType + "] [" + IoHighType + "] [" + isCheckMove + "] 出错：" + ex.ToString());
            }

        }
        public void CheckAndMove(string IoType, IO_VALUE value)
        {
            if (!IOValue(IoType).Equals(value))
            {
                IOMove(IoType, value);
            }
        }
        public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
        {
            if (!TrayManager.HasCheck1(baseConfig.Id))
            {
                if (IoType.Equals(IO_Type.StopCylinder_Down1))
                {
                    return;
                }
            }
            if (msTime <= 0)
            {
                IOManager.IOMove(IoType, value, baseConfig.Id);
            }
            else
            {
                Task.Factory.StartNew(delegate
                {
                    IOManager.IOMove(IoType, value, baseConfig.Id);
                    Thread.Sleep(msTime);
                    IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
                    if (IOValue(IoType).Equals(tValue).Equals(false))
                    {
                        if (IoType.Equals(IO_Type.StopCylinder_Down1).Equals(false) && IoType.Equals(IO_Type.SW_StopDown).Equals(false))
                        {
                            LogUtil.info(Name + "定时回写IO:  [" + IoType + "]=[" + value + "]，[" + baseConfig.Id + "]，msTime=" + msTime);
                        }
                    }
                    IOManager.IOMove(IoType, tValue, baseConfig.Id);
                });
            }
        }
        public IO_VALUE IOValue(string IoType)
        {
            //if (!TrayManager.HasCheck1(baseConfig.Id))
            //{
            //    if (IoType.Equals(IO_Type.StopCylinder_Down1)||IoType.Equals(IO_Type.StopCylinder_Check1))
            //    {
            //        return IO_VALUE.LOW;
            //    }
            //}
            return IOManager.IOValue(IoType, baseConfig.Id);
        }
        public void DebugInfo(string logInfo)
        {
            LogUtil.debug(Name + logInfo);
        }
        public void LogInfo(string logInfo)
        {
            LogUtil.info(Name + logInfo);
        }
        /// <summary>
        /// 阻塞等待IO信号，等到返回true,未等到返回false
        /// </summary>c
        public bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
        {
            try
            {
                return WaitUtil.Wait(timeOut, delegate ()
                {
                    return value.Equals(IOValue(ioType));
                }, errName);
            }
            catch (Exception ex)
            {
                LogUtil.error(Name + "等待" + ioType + "=" + value + "超时：" + ex.ToString());
                return false;
            }
        }
        /// <summary>
        /// 设置报警消息，报警类型，清除报警时记录日志
        /// </summary>
        /// <param name="msg"></param>
        /// <param name="logtype"></param>
        /// <param name="logseconds"></param>
        public void SetWarnMsg(string msg = "", string alarmType = "", LineMoveInfo moveInfo = null, int logseconds = 10)
        {
            int logtype = 801;
            if (moveInfo != null)
            {
                logtype = DeviceID * 10000 + (int)moveInfo.MoveStep;
            }
            if (String.IsNullOrEmpty(msg).Equals(false))
            {
                if (WarnMsg.Equals(msg))
                {
                    if (msg.StartsWith(Name))
                    {
                        LogUtil.error(msg, logtype, logseconds);
                    }
                    else
                    {
                        LogUtil.error(Name + msg, logtype, logseconds);
                    }
                }
                else
                {
                    if (msg.StartsWith(Name))
                    {
                        LogUtil.error(msg);
                    }
                    else
                    {
                        LogUtil.error(Name + msg);
                    }
                }

            }

            if (!warnParam.AlarmType.Equals(alarmType))
            {
                //报警类型不一致，若之前不是空，记录日志
                if (!String.IsNullOrEmpty(warnParam.AlarmType))
                {
                    RunLogUtil.ErrorLog(new ErrorLog(Name, warnParam.AlarmType, WarnMsg, warnParam.StartTime, DateTime.Now, warnParam.OperteType, warnParam.PosId, warnParam.Barcode));
                }
                //更新开始时间
                warnParam.StartTime = DateTime.Now;
                if (moveInfo != null)
                {
                    warnParam.PosId = moveInfo.MoveParam?.PosId;
                    warnParam.Barcode = moveInfo.MoveParam?.WareCode;
                    warnParam.OperteType = moveInfo.GetMoveType();
                }
                else
                {
                    warnParam.PosId = "";
                    warnParam.Barcode = "";
                    warnParam.OperteType = "";
                }
            }

            WarnMsg = msg;
            warnParam.AlarmType = alarmType;
        }
        protected void MoveTimeoutAlarm(LineMoveInfo move, string alarmType)
        { 
            SetWarnMsg(move.Name + "[" + move.GetMoveType() + "][" + move.SLog + "] " + alarmType + " [" + FormUtil.GetSpanStr(move.StepSpan()) + "]", alarmType, move);
            Alarm(LineAlarmType.IoSingleTimeOut);
        }
        protected void ClearTimeoutAlarm(string msg)
        {
            if (isInSuddenDown || isNoAirCheck)
            {
                return;
            }
            if (WarnMsg.Contains(msg) && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
            {
                LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
                alarmType = LineAlarmType.None;
                SetWarnMsg("");
            }
        }

        protected void ClearStepAlarm(string stepDes)
        {
            if (isInSuddenDown || isNoAirCheck)
            {
                return;
            }
            if (String.IsNullOrEmpty(WarnMsg).Equals(false) && String.IsNullOrEmpty(warnParam.AlarmType).Equals(false))

            {
                if (alarmType.Equals(LineAlarmType.IoSingleTimeOut)){
                    string alarmTypeStr = stepDes + "_超时报警";
                    if (warnParam.AlarmType.Equals(alarmTypeStr))
                    {
                        LogUtil.info(Name + $"步骤{stepDes}结束，清理【{ WarnMsg }】 ");
                        alarmType = LineAlarmType.None;
                        SetWarnMsg("");
                    }
                } else if (alarmType.Equals(LineAlarmType.AxisMoveError))
                {
                    string alarmTypeStr = stepDes + "_轴运动报警";
                    if (warnParam.AlarmType.Equals(alarmTypeStr))
                    {
                        LogUtil.info(Name + $"步骤{stepDes}结束，清理【{ WarnMsg }】 ");
                        alarmType = LineAlarmType.None;
                        SetWarnMsg("");
                    }
                }

            }
        }


    }
    public class WarnParam
    {
        public WarnParam()
        {
        }
        public WarnParam(string alarmType ,DateTime startTime,string operType,string posId,string barcode)
        {
            this.AlarmType = alarmType;
            this.StartTime = startTime;
            this.OperteType = operType;
            this.PosId = posId;
            this.Barcode = barcode;
        }

        public string AlarmType = "";
        public DateTime StartTime = DateTime.Now;
        public string OperteType = "";
        public string  PosId = "";
        public string  Barcode = "";
    }
}