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

namespace OnlineStore.DeviceLibrary
{
    /// <summary>
    /// 流水线自动料仓-移栽装置类
    /// </summary>
    public partial class MoveEquip : KTK_Store
    {
        private bool IsIntSlvBlock = false;
        public bool IsDebug = false;
        public bool UpdownUseAxis = false;
        public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
        public MoveEquip_Config Config;
        
        /// <summary>
        ///移栽装置后面分为两条移动线
        /// </summary>
        public LineMoveInfo SecondMoveInfo = null;

        public List<InOutParam> waitOutStoreList = new List<InOutParam>();
        public List<InOutParam> waitInStoreList = new List<InOutParam>();
        public object waitInListLock = "";
        public object waitOutListLock = ""; 

        public MoveEquip(string cid, MoveEquip_Config config)
        {
            this.DeviceID = config.Id;
            this.Config = config;
            Name = (" " +  "_移栽_" + DeviceID + " ").ToUpper();
            //Name = (" " + cid + "_移栽_" + DeviceID + " ").ToUpper();
            Init();
            //添加调试
            if (config.IsDebug == 1)
            {
                IsDebug = true;
            }
            //this.Box = box;
          
            MoveInfo = new LineMoveInfo(DeviceID,"移栽-"+DeviceID+"-MoveInfo");
            SecondMoveInfo = new LineMoveInfo(DeviceID, "移栽-" + DeviceID + "-SecondMoveInfo");
            IsDebug = config.IsDebug.Equals(1);
            UpdownUseAxis = config.UpDownUseAxis.Equals(1);
            if (UpdownUseAxis)
            {
                Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
                Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
                Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
                Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
                Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
                Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;

                portName = Config.UpDown_Axis.DeviceName;
                slvAddr = config.UpDown_Axis.GetAxisValue();
            }
        }

        /// <summary>
        /// 开始运行
        /// </summary>
        public override bool StartRun( )
        {
            preTrayNum = 0;
            currMoveTrayNum = 0;
            mainTimer.Enabled = false;
            MoveInfo.EndMove();
            SecondMoveInfo.EndMove();
            lineStatus = LineStatus.StoreOnline; 
            //TODO 调试时暂时注释
            runStatus = LineRunStatus.HomeMoving;
            return MoveEquipMentHome(); 
        }
       
        public   bool StartDebugRun()
        {
            preTrayNum = 0;
            currMoveTrayNum = 0;
            mainTimer.Enabled = false;
            MoveInfo.EndMove();
            SecondMoveInfo.EndMove();
            lineStatus = LineStatus.StoreOnline;
            //TODO 调试时暂时注释
            runStatus = LineRunStatus.HomeMoving;
            bool result= MoveEquipMentHome();
            if (result)
            {
                mainTimer.Enabled = true;
            }
            return result;
        }
        /// <summary>
        /// 停止运行
        /// </summary>
        public override void StopRun()
        {
            preTrayNum = 0;
            currMoveTrayNum = 0;
            if (mainTimer != null)
            {
                mainTimer.Enabled = false;
            }
            StopMove();
            //停止运行时，把所有IO 置零
            IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
            IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
            IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
            IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
            IOMove(IO_Type.BeforeAfterCylinder_Before, IO_VALUE.LOW);
            IOMove(IO_Type.BeforeAfterCylinder_After, IO_VALUE.LOW);
            IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
            IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
            IOMove(IO_Type.ClampCylinder_Slack, IO_VALUE.LOW);
            IOMove(IO_Type.ClampCylinder_Tighten, IO_VALUE.LOW);
            runStatus = LineRunStatus.Wait;
        }
        /// <summary>
        /// 运动处理
        /// </summary> 
        protected override void BusyMoveProcess()
        {
            switch (MoveInfo.MoveType)
            {
                case LineMoveType.InStore:
                    InStoreProcess();
                    break;
                case LineMoveType.OutStore:
                    OutStoreProcess();
                    break;
                case LineMoveType.ReturnHome:
                    ReturnHomeProcess();
                    break;

                case LineMoveType.Reset:
                    ResetProcess();
                    break;
                //case StoreMoveType.StopMove:
                //    StopMoveProcess();
                //    break;
                default: break;
            }
            if (MoveInfo.MoveType == LineMoveType.InStore || this.SecondMoveInfo.MoveType == LineMoveType.InStore)
            {
                InStoreProcess();
            }
            else if (MoveInfo.MoveType == LineMoveType.OutStore || SecondMoveInfo.MoveType == LineMoveType.OutStore)
            {
                OutStoreProcess();
            }
            else if (MoveInfo.MoveType == LineMoveType.ReturnHome)
            {
                ReturnHomeProcess();
            }
            else if (MoveInfo.MoveType == LineMoveType.Reset)
            {
                ResetProcess();
            }
            else if (MoveInfo.MoveType == LineMoveType.StopMove)
            {
                StopMoveProcess();
            }

            if (SecondMoveInfo.MoveType .Equals( LineMoveType.CheckFixture))
            {
                CheckFixtureProcess();
            }
        }

      
        protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            TimerProcess();
        }

        public void TimerProcess()
        {
            if (isInPro)
            {
                return;
            }
            isInPro = true;
            try
            {
                if (IsDebug)
                {
                    isInPro = false;
                    return;
                }

                BusyMoveProcess();
                //判断流水线打开了才可以运行 
                if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
                {
                    LineBean lineBean = LineManager.Line;
                    if (lineBean.isCanProcessLine() && IOManager.IOValue(IO_Type.DriveMotor_Run,0).Equals(IO_VALUE.HIGH) && lineBean.runStatus >= LineRunStatus.Runing && lineBean.IsSleep.Equals(false))
                    {
                       // LogUtil.info("StartCheckFixture");
                        StartCheckFixture();
                    }
                }
                IOTimeOutProcess();

                OutStoreListPro ();
            }
            catch (Exception ex)
            {
                LogUtil.error(Name + "TimerProcess出错：" + ex.ToString());
            }

            isInPro = false;
        }

        /// <summary>
        /// 出库队列处理
        /// </summary>
        private void OutStoreListPro()
        { 
            //料仓出库完成，移栽装置开始出库检测
            if (IsDebug.Equals(false) && MoveInfo.MoveType.Equals(LineMoveType.None) && runStatus.Equals(LineRunStatus.Runing))
            {
                InOutParam waitOutParma = null;
                lock (waitOutListLock)
                {
                    if (waitOutStoreList.Count > 0)
                    {
                        waitOutParma = waitOutStoreList[0];
                        waitOutStoreList.RemoveAt(0);
                    }
                }
                if (waitOutParma != null)
                {
                    LogUtil.info(Name + "开始 执行排队中的出库【" + waitOutParma.ToStr() + "】");
                    //出库
                    bool result = StartOutStoreMove(waitOutParma); 
                    if (!result)
                    {
                        LogUtil.info(Name + " 执行排队中的出库【" + waitOutParma.ToStr() + "】失败，重新加入等待队列");
                        AddWaitOutInfo(waitOutParma);
                    }
                }
            }
        }
        public  void AddWaitOutInfo(InOutParam param)
        { 
            lock (waitOutListLock)
            {
                waitOutStoreList.Add(param);
            }
        }

        private DateTime preIoTimerOutTime = DateTime.Now;
        private void IOTimeOutProcess()
        {
            try
            {
                TimeSpan span = DateTime.Now - preIoTimerOutTime;
                if (span.TotalSeconds > 1&& alarmType.Equals(LineAlarmType.IoSingleTimeOut))
                {
                    preIoTimerOutTime = DateTime.Now;
                    
                    if (runStatus < LineRunStatus.Runing|| isInSuddenDown || isNoAirCheck)
                    {
                        return;
                    } 

                    //若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
                    if (MoveInfo.IsInWait .Equals(false)&&SecondMoveInfo.IsInWait.Equals(false))
                    {
                        LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
                        alarmType = LineAlarmType.None;
                        WarnMsg = "";
                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.error( "IOTimeOutProcess出错：" + ex.ToString());
            }
        }

        /// <summary>
        /// 移栽装置原点返回
        /// </summary>
        public bool  MoveEquipMentHome()
        {
            mainTimer.Stop();
            if (!RunAxis(true))
            {
                return false;
            }

            alarmType = LineAlarmType.None;
            runStatus = LineRunStatus.HomeMoving;
            LogInfo( "开始原点返回：  (上下气缸回原点，阻挡气缸输入=0  )开始");
            MoveInfo.NewMove(LineMoveType.ReturnHome);
            //移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0     
            UpdownHomeMove();
          //  CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
            if (IsDebug)
            {
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
            }
            else
            {
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW); 
            }
            return true;
        }
        /// <summary>
        /// 移栽装置重置
        /// </summary>
        public override bool  Reset()
        {
            WarnMsg = "";
          
            //如果正在出库中，需要减去托盘号
            if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
            {
                LogInfo("重置之前发现在出库执行中，减去托盘数；");
                //减去需要的盘数
                TrayManager.DelNeedEmptyTrayNum();
                MoveInfo.EndMove();
            } 
            if (!RunAxis(true))
            {
                return false;
            }
            alarmType = LineAlarmType.None;
            //重置时清理盘号，从头开始判断
            preTrayNum = 0;
            currMoveTrayNum = 0;
            LogInfo( "开始重置：清零上一个托盘号，（上下气缸回原点，阻挡气缸输入=0  ）开始；");
            runStatus = LineRunStatus.Reset;
            SecondMoveInfo.EndMove();
            MoveInfo.NewMove(LineMoveType.Reset);

            UpdownHomeMove();
           // CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
            if (IsDebug)
            {
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
            }
            else
            {
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
            }
            isInPro = false;
            return true;
        }

        /// <summary>
        /// 重置处理
        /// </summary>
        protected override void ResetProcess()
        {
            if (MoveInfo.IsInWait)
            {
                CheckWait(MoveInfo);
            }
            else if (SecondMoveInfo.IsInWait)
            {
                CheckWait(SecondMoveInfo);
            }
            if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
            {
                //流水线各装置复原位，夹料气缸状态不变
                //阻挡气缸全部=0
                //上下气缸上升，、
                //上升到位，顶升气缸下降，前后气缸回退
                //复位时夹紧气缸需要发送，不然后面出入库会有问题
                switch (MoveInfo.MoveStep)
                {
                    case LineMoveStep.MH_UpDownHomeMove:
                        MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
                        LogInfo("重置：  (上下轴原点返回完成，上下轴走到待机点  )开始");
                        UpdownUpMove();
                        break;
                    case LineMoveStep.MH_UpDownCylinder_Up:

                        MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
                        LogInfo( "重置：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
                        CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                        CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                        CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
                        break;

                    case LineMoveStep.MH_OtherCylinder_Back:

                        LogInfo( "重置完成！");
                        runStatus = LineRunStatus.Runing;
                        MoveInfo.EndMove();
                        SecondMoveInfo.EndMove();
                        break;
                    //TODO 需要继续之前的的出入库处理
                    //ContinueInOutStore();

                    default: break;
                }
            }
        }
        /// <summary>
        /// 原点返回处理
        /// </summary>
        protected   void ReturnHomeProcess()
        {
            if (MoveInfo.IsInWait)
            {
                CheckWait(MoveInfo);
            }
            if (SecondMoveInfo.IsInWait)
            {
                CheckWait(SecondMoveInfo);
            }
            if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
            {
                switch (MoveInfo.MoveStep)
                {
                    case LineMoveStep.MH_UpDownHomeMove:
                        MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
                        LogInfo("原点返回：  (上下轴原点返回完成，上下轴走到待机点  )开始");
                        UpdownUpMove();
                        break;
                    case LineMoveStep.MH_UpDownCylinder_Up:

                        LogInfo("原点返回：(上升到位，顶升气缸下降，前后气缸回退  )开始");
                        MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
                        CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                        CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                        CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);

                        break;
                    case LineMoveStep.MH_OtherCylinder_Back:

                        MoveInfo.EndMove();
                        SecondMoveInfo.EndMove();
                        LogInfo( "原点返回完成！");
                        runStatus = LineRunStatus.Runing;
                        //如果是调试模式，移栽装置两个阻挡气缸落下，并且不再移动
                        if (IsDebug)
                        {
                            lineStatus = LineStatus.Debugging;
                        }
                        else
                        {

                            lineStatus = LineStatus.StoreOnline;
                        }
                        break;
                    default: break;
                }
            }
        }

        private void StopMoveProcess()
        {
            if (MoveInfo.IsInWait)
            {
                CheckWait(MoveInfo);
            }
            if (SecondMoveInfo.IsInWait)
            {
                CheckWait(SecondMoveInfo);
            }
            if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
            {
                switch (MoveInfo.MoveStep)
                { 
                    //流水线各装置复原位，夹料气缸状态不变                //阻挡气缸全部=0                //上下气缸上升，、                //上升到位，顶升气缸下降，前后气缸回退
                    case LineMoveStep.MH_UpDownCylinder_Up:
                        {
                            MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
                            LogInfo( "停止运动：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
                            IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);

                            CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                            CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                            break;
                        }
                    case LineMoveStep.MH_OtherCylinder_Back:
                        {
                            LogInfo("停止运行完成，停止伺服！");
                          
                            CloseAxis();
                            if (UpdownUseAxis)
                            {
                                LogInfo("停止运动：停止伺服");
                                ACServerManager.SuddenStop(Config.UpDown_Axis);
                            }
                            runStatus = LineRunStatus.Runing;
                            MoveInfo.EndMove();
                            break;
                        }
                    default: break;
                }
            }
        }
        /// <summary>
        /// 停止运动
        /// </summary>
        public override void StopMove()
        {
            //如果正在出库中，需要减去托盘号
            if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
            {
                LogInfo( "停止运动时出库执行中，减去托盘数；");
                //减去需要的盘数
                TrayManager.DelNeedEmptyTrayNum();
                MoveInfo.EndMove();
            }
            runStatus = LineRunStatus.Busy;
            SecondMoveInfo.EndMove(); 
         
            LogInfo( "停止运动：（上下气缸上升端，阻挡气缸输入=0  ）开始 ");
       
            MoveInfo.NewMove(LineMoveType.StopMove);
            MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
            UpdownUpMove();
            IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
            IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
           
        }

        public void ChangeDebug()
        {
            if (Config.IsDebug == 1)
            {
                IsDebug = true;
                //两个阻挡气缸下降
                lineStatus = LineStatus.Debugging;
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
                LogInfo("从正常状态切换到调试状态！");
            }
            else if (lineStatus.Equals(LineStatus.Debugging))
            {
                IsDebug = false;
                lineStatus = LineStatus.StoreOnline;
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
                LogInfo("从调试状态切换到正常状态！");
            }
        }



        /// <summary>
        /// 下降所有阻挡气缸
        /// </summary>
        internal void OpenStopCylinder()
        {
            LogInfo( "下降阻挡气缸，上下气缸上升，顶升气缸下降");
            IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
            IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
            //上下气缸上升
            if (UpdownUseAxis.Equals(false))
            {
                IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
                IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.HIGH);
            }
            //顶升气缸下降
            IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
            IOMove(IO_Type.TopCylinder_Down, IO_VALUE.HIGH);
        }
        internal void CloseCylinderStop()
        {
            LogInfo( "上升阻挡气缸，关闭上下气缸，顶升气缸IO");
            IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
            IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
            //上下气缸上升
            IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
            IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
            //顶升气缸下降
            IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
            IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
        }
         
        #region 上下气缸伺服运动
        private string portName;
        private short slvAddr;
        public bool RunAxis(bool isCheck)
        {
            if (!UpdownUseAxis)
            {
                return true;
            }
            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.HIGH);
            Thread.Sleep(1000);
            //打开所有轴 
            ACServerManager.OpenPort(portName);
            Thread.Sleep(50);
            //初始化
            if (!IsIntSlvBlock)
            {
                ACServerManager.InitSlvAddr(portName, slvAddr, Config.UpDown_Axis.TargetSpeed, Config.UpDown_Axis.AddSpeed, Config.UpDown_Axis.DelSpeed);
                Thread.Sleep(100);
            }
            ACServerManager.AlarmClear(portName, slvAddr);
            Thread.Sleep(50);
            ACServerManager.ServoOn(portName, slvAddr);

            Thread.Sleep(1000);
            //打开所有轴
            if (isCheck)
            {
                if (!OpenAxis())
                {
                    return false;
                }
            }
            IsIntSlvBlock = true;
            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.HIGH);
            return true;
        }
        /// <summary>
        /// 打开所有轴
        /// </summary>
        /// <returns></returns>
        private bool OpenAxis()
        {
            //判断轴是否正常
        
                if (ACServerManager.ServerOnStatus(portName, slvAddr))
                {
                    LogUtil.info( Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
                }
                else
                {
                    //清理报警，再重新打开一次
                    LogUtil.info( Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
                    ACServerManager.AlarmClear(portName, slvAddr);
                    System.Threading.Thread.Sleep(1200);
                    ACServerManager.ServoOn(portName, slvAddr);
                    System.Threading.Thread.Sleep(100);
                    if (ACServerManager.ServerOnStatus(portName, slvAddr))
                    {
                        LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
                    }
                    else
                    {
                        ACServerManager.ServoOff(portName, slvAddr); 
                        WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
                        LogUtil.info( Name + WarnMsg);
                        Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
                        return false;
                    }
                }
             
            return true;
        }


        public  void CloseAxis()
        {
            LogUtil.info(Name + "关闭刹车，关闭伺服");
            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);

            ACServerManager.ServoOff(portName, slvAddr);
            //关闭串口，等下次重新打开
          ACServerManager.ColsePort(portName);

            Thread.Sleep(100);
            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
        }

     
        private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
        {
            moveAxis.TargetPosition = 0;
            LogUtil.info( moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); 
            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
        }

        /// <summary>
        /// 松下伺服电机运动
        /// </summary> 
        private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
        {
            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
            moveAxis.TargetPosition = targetPosition; 
            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
        }

        /// <summary>
        /// 判断AC伺服电机轴是否运动完成
        /// </summary> 
        private bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
        {
            msg = "";
            string deviceName = moveAxis.DeviceName;
            short axisNo = moveAxis.GetAxisValue();
             
            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
            int errorCount = Math.Abs(outCount - targetPosition);
            if (isOk)
            {
                if (errorCount <= moveAxis.CanErrorCountMax)
                {
                    return true;
                }
                //判断是否需要重新运动
                if (MoveInfo.CanWhileCount > 0)
                {
                    LogUtil.error( 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");
                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
                    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;
        }
        private bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
        {
            msg = "";
            if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
            {
                //原点完成并且位置=0
                int outCount = ACServerManager.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( 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");
                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
                    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;
        } 
        /// <summary>
        /// 上下气缸移动到上升端
        /// </summary>
        private void UpdownUpMove()
        {
            if (UpdownUseAxis)
            {
                ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
            }
            else
            {
                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
            }
        }
         
        private void UpdownDownMove(int trayHeight)
        {
            if (UpdownUseAxis)
            {
                int position = Config.GetUpdownPosition(trayHeight);
                ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
            }
            else
            {
                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
            }
        }
        private void UpdownDownBoxMove(int trayHeight)
        {
            if (UpdownUseAxis)
            {
                int position = Config.GetUpdownBoxPosition(trayHeight);
                ACAxisMove(Config.UpDown_Axis, position,Config.UpdownAxis_DownSpeed);
            }
            else
            {
                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
            }
        }
        private void UpdownHomeMove()
        {
            if (UpdownUseAxis)
            {
                MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHomeMove);
                ACAxisHomeMove(Config.UpDown_Axis);
            }
            else
            {
                MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
            }
        }
        #endregion

    }
}