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>
    ///0= 等待启动/已经停止，1=初始化完成， 2=正常运行中，3=可以进行新的处理，4=忙碌，重置
    /// </summary>
    public enum RunStatus
    {
        /// <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 DeviceStatus
    {
        None=0,
        /// <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,       
    }
    public enum StepEnum
    {
        Wait = 0,

        #region 入料口复位
        /// <summary>
        /// 入料口复位：复位
        /// </summary>
        Inlet_Reset_01_Wait,
        /// <summary>
        /// 入料口复位：顶升下降
        /// </summary>
        Inlet_Reset_02_JackDown,
        /// <summary>
        /// 入料口复位：皮带运转，检查料盘
        /// </summary>
        Inlet_Reset_03_CheckTray,
        /// <summary>
        /// 入料口复位：完成
        /// </summary>
        Inlet_Reset_04_Finish,
        #endregion

        #region 入料口运行
        /// <summary>
        /// 入料口运行：自动开始
        /// </summary>
        Inlet_01_Wait,
        /// <summary>
        /// 入料口运行：检查是否有料盘
        /// </summary>
        Inlet_02_CheckTray,
        /// <summary>
        /// 入料口运行：允许送料
        /// </summary>
        Inlet_03_AllowFeedIn,
        /// <summary>
        /// 入料口运行：料盘到位
        /// </summary>
        Inlet_04_TrayInPosition,
        /// <summary>
        /// 入料口运行：获取料盘信息，二维码、尺寸信息
        /// </summary>
        Inlet_05_GetTrayInfo,
        /// <summary>
        /// 入料口运行：顶升顶起
        /// </summary>
        Inlet_06_JackUp,
        /// <summary>
        /// 入料口运行：获取料盘目标仓位
        /// </summary>
        Inlet_07_GetTargetInfo,
        /// <summary>
        /// 入料口运行：等待料盘离开
        /// </summary>
        Inlet_08_WaitTrayLeave,
        /// <summary>
        /// 入料口运行：等待机器人到达安全位置
        /// </summary>
        Inlet_09_WaitRobotInSafe,
        /// <summary>
        /// 入料口运行：顶升下降，允许入料
        /// </summary>
        Inlet_10_JackDown,
        #endregion

        #region 出料口复位
        /// <summary>
        /// 出料口复位：复位
        /// </summary>
        Outlet_Reset_01_Wait,
        /// <summary>
        /// 出料口复位：顶升下降
        /// </summary>
        Outlet_Reset_02_JackDown,
        /// <summary>
        /// 出料口复位：皮带运转，检查料盘
        /// </summary>
        Outlet_Reset_03_CheckTray,
        /// <summary>
        /// 出料口复位：完成
        /// </summary>
        Outlet_Reset_04_Finish,
        #endregion

        #region 出料口运行
        /// <summary>
        /// 出料口运行：自动开始
        /// </summary>
        Outlet_01_Wait,
        /// <summary>
        /// 出料口运行：检查是否有料盘
        /// </summary>
        Outlet_02_CheckTray,
        /// <summary>
        /// 出料口运行：检查是否允许送料
        /// </summary>
        Outlet_03_CheckAllowFeedOut,
        /// <summary>
        /// 出料口运行：等待料盘离开
        /// </summary>
        Outlet_04_WaitTrayLeave,
        /// <summary>
        /// 出料口运行：顶升上升
        /// </summary>
        Outlet_05_JackUp,
        #endregion

        #region 机器人复位
        /// <summary>
        /// 机器人复位：开始
        /// </summary>
        Robot_Reset_01_Wait,
        /// <summary>
        /// 机器人复位：检查机械臂是否在安全位置
        /// </summary>
        Robot_Reset_02_CheckArmState,
        /// <summary>
        /// 机器人复位：机械臂回待机点
        /// </summary>
        Robot_Reset_03_ArmToP1,
        /// <summary>
        /// 机器人复位：检查机械臂上是否有料盘，有料盘则压紧轴不动
        /// </summary>
        Robot_Reset_04_CheckTray,
        /// <summary>
        /// 机器人复位：行走机构和压紧轴回待机点
        /// </summary>
        Robot_Reset_05_AllAxisToP1,
        /// <summary>
        /// 机器人复位：行走机构待机点
        /// </summary>
        Robot_Reset_06_MoveAxisToP1,
        /// <summary>
        /// 机器人复位：清除压紧轴上的料盘。根据料盘信息判断进出库，完成操作
        /// </summary>
        Robot_Reset_07_ClearCompress,
        /// <summary>
        /// 机器人复位完成
        /// </summary>
        Robot_Reset_08_Finish,

        #endregion

        #region 入库
        /// <summary>
        /// 入库：开始入库
        /// </summary>
        InStore_01_Wait,
        /// <summary>
        /// 入库：机械臂到待机点
        /// </summary>
        InStore_02_ArmToP1,
        /// <summary>
        /// 入库：行走机构到达入料口
        /// </summary>
        InStore_03_MoveAxisToInlet,
        /// <summary>
        /// 入库：检查入料口状态
        /// </summary>
        InStore_04_CheckInletState,
        /// <summary>
        /// 入库：机械臂到达入料口的取料低点
        /// </summary>
        InStore_05_ArmToTrayLow,
        /// <summary>
        /// 入库：机械臂到取料高点，压紧轴开始压紧
        /// </summary>
        InStore_06_CompressTray,
        /// <summary>
        /// 入库：机械臂回待机点
        /// </summary>
        InStore_07_ArmBackToP1,
        /// <summary>
        /// 入库：行走机构到目标仓位
        /// </summary>
        InStore_08_MoveAxisToStore,
        /// <summary>
        /// 入库：检查仓门口状态
        /// </summary>
        InStore_09_CheckStoreState,
        /// <summary>
        /// 入库：机械臂去仓门口高点
        /// </summary>
        InStore_10_ArmToStoreDoorHigh,
        /// <summary>
        /// 入库：机械臂到仓门口低点，压紧轴张开
        /// </summary>
        InStore_11_ReleaseTray,
        /// <summary>
        /// 入库：行走机构到NG
        /// </summary>
        InStore_12_MoveAxisToNGBox,
        /// <summary>
        /// 入库：检查NG箱状态
        /// </summary>
        InStore_13_CheckNGBoxState,
        /// <summary>
        /// 入库：机械臂去NG箱高点
        /// </summary>
        InStore_14_ArmToNGBoxHigh,
        /// <summary>
        /// 入库：机械臂到NG箱低点，压紧轴张开
        /// </summary>
        InStore_15_ReleaseTray,
        /// <summary>
        /// 入库：机械臂回待机点
        /// </summary>
        InStore_16_ArmBackToP1,
        /// <summary>
        /// 入库：结束
        /// </summary>
        InStore_17_Finish,
        #endregion

        #region 出库
        /// <summary>
        /// 出库：开始
        /// </summary>
        OutStore_01_Wait,
        /// <summary>
        /// 出库：机械臂回待机点
        /// </summary>
        OutStore_02_ArmToP1,
        /// <summary>
        /// 出库：行走机构到仓门口
        /// </summary>
        OutStore_03_MoveAxisToStore,
        /// <summary>
        /// 出库：检查仓状态
        /// </summary>
        OutStore_04_CheckStoreState,
        /// <summary>
        /// 出库：机械臂到仓门口取料低点
        /// </summary>
        OutStore_05_ArmToStoreDoorLow,
        /// <summary>
        /// 出库：机械臂到取料高点，压紧轴夹紧
        /// </summary>
        OutStore_06_CompressTray,
        /// <summary>
        /// 出库：机械臂回待机点
        /// </summary>
        OutStore_07_ArmBackToP1,
        /// <summary>
        /// 出库：行走机构到出料口
        /// </summary>
        OutStore_08_MoveAxisToOutlet,
        /// <summary>
        /// 出库：检查出料口状态
        /// </summary>
        OutStore_09_CheckOutletState,
        /// <summary>
        /// 出库：机械臂到出料口放料高点
        /// </summary>
        OutStore_10_ArmToTrayHigh,
        /// <summary>
        /// 出库：机械臂到出料口放料低点、压紧轴张开
        /// </summary>
        OutStore_11_ReleaseTray,
        /// <summary>
        /// 出库：机械臂回待机点
        /// </summary>
        OutStore_12_ArmBackToP1,
        /// <summary>
        /// 出库：结束
        /// </summary>
        OutStore_13_Finish,
        #endregion

    }

    public enum AlarmType
    {
        /// <summary>
        /// 没有报警，数字越大报警级别越大
        /// </summary>
        None = 0,

        /// <summary>
        /// io信号超时未收到
        /// </summary>
        IoSingleTimeOut = 10,
        /// <summary>
        /// 轴报警
        /// </summary>
        AxisAlarm = 1000, 
        /// <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 = 1001,
        /// <summary>
        /// 没有气压信号
        /// </summary>
        NoAirpressure_Check = 9999,
        /// <summary>
        /// 收到急停
        /// </summary>
        SuddenStop = 10000,
        /// <summary>
        /// 机器人报警
        /// </summary>
        RobotError=20000,
        NGBoxWarn=30000
    }
}