using Rs.Framework;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow
{
   
    public class HomeFlow
    {
        ushort homeStep = 0;
        private static HomeFlow instace;
        private bool m_bCancle = false;
        private bool m_bHomed = false;
        public static HomeFlow Instance
        {
            get
            {
                if (instace == null)
                    instace = new HomeFlow();
                return instace;
            }
        }

        public void CancleHome()
        {
            m_bCancle = true;
        }

        private HomeFlow() { }

        public void StartGoHome()
        {
            Task.Run(()=> {

                while (true && !m_bCancle &&!m_bHomed)
                {
                    switch (homeStep)
                    {
                        case 0://所有的Z轴回原
                            MessageQueue.Instance.Insert("所有ZR轴开始回零");
                            m_bHomed = false;
                            MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
                            MessageQueue.Instance.Insert(AxisControl.VacR1.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR2.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR3.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR4.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR5.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR6.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacR7.Home().ToString());

                            MessageQueue.Instance.Insert(AxisControl.VacZ1.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ2.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ3.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ4.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ5.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ6.Home().ToString());
                            MessageQueue.Instance.Insert(AxisControl.VacZ7.Home().ToString());

                            MessageQueue.Instance.Insert(AxisControl.VacB.Home().ToString());
                            homeStep++;
                            break;
                        case 1://等待所有Z轴回原完成
                            AxisControl.VacZ1.IsHomed(out bool bZ1Homed);
                            AxisControl.VacZ2.IsHomed(out bool bZ2Homed);
                            AxisControl.VacZ3.IsHomed(out bool bZ3Homed);
                            AxisControl.VacZ4.IsHomed(out bool bZ4Homed);
                            AxisControl.VacZ5.IsHomed(out bool bZ5Homed);
                            AxisControl.VacZ6.IsHomed(out bool bZ6Homed);
                            AxisControl.VacZ7.IsHomed(out bool bZ7Homed);

                            AxisControl.VacR1.IsHomed(out bool bR1Homed);
                            AxisControl.VacR2.IsHomed(out bool bR2Homed);
                            AxisControl.VacR3.IsHomed(out bool bR3Homed);
                            AxisControl.VacR4.IsHomed(out bool bR4Homed);
                            AxisControl.VacR5.IsHomed(out bool bR5Homed);
                            AxisControl.VacR6.IsHomed(out bool bR6Homed);
                            AxisControl.VacR7.IsHomed(out bool bR7Homed);
                            AxisControl.VacB.IsHomed(out bool bBHomed);

                            if (bZ1Homed && bZ2Homed&&bZ3Homed&&bZ4Homed&&bZ5Homed&&bZ6Homed&&bZ7Homed &&
                            bR1Homed && bR2Homed && bR3Homed && bR4Homed && bR5Homed && bR6Homed && bR7Homed && bBHomed)
                            {
                                MessageQueue.Instance.Insert("所有ZR轴回零完成");
                                m_bHomed = true;
                                //回零完成,结束
                                MachineManage.Instance.MachineStatus = EMachineStatus.Homed;
                            }
                            break;
                        default:
                            break;
                    }
                }
            });
        }
    }
}