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

namespace Rs.MotionPlat.Flow
{
    public class SpaceFlow
    {
        int flowStep = 0;
        private static SpaceFlow instace;
        private bool m_bCancle = false;
        private bool m_bHomed = false;
        private bool m_bStop = false;
        double startPos = -2;
        double endPos = -15;
        int vel = 50;
        public static SpaceFlow Instance
        {
            get
            {
                if (instace == null)
                    instace = new SpaceFlow();
                return instace;
            }
        }

        public void CancleHome()
        {
            m_bCancle = true;
        }

        public void Stop()
        {
            m_bStop = true;
            MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
        }

        private SpaceFlow() { }

        public void Restart()
        {
            m_bStop = false;
            MachineManage.Instance.MachineStatus = EMachineStatus.Working;
        }

        public void Start()
        {
            Task.Run(()=> {
                while (true)
                {
                    if(m_bStop &&!m_bCancle)
                    {
                        Thread.Sleep(100);
                        continue;
                    }
                    switch (flowStep)
                    {
                        case 0://所有Z轴到起始位
                            AxisControl.VacZ1.MovePos(startPos, vel);
                            AxisControl.VacZ2.MovePos(startPos, vel);
                            AxisControl.VacZ3.MovePos(startPos, vel);
                            AxisControl.VacZ4.MovePos(startPos, vel);
                            AxisControl.VacZ5.MovePos(startPos, vel);
                            AxisControl.VacZ6.MovePos(startPos, vel);
                            AxisControl.VacZ7.MovePos(startPos, vel);
                            flowStep++;
                            MessageQueue.Instance.Insert("z go to start point");
                            break;
                        case 1://等待所有Z轴运动停止
                            AxisControl.VacZ1.IsStop(out bool z1Stoped);
                            AxisControl.VacZ2.IsStop(out bool z2Stoped);
                            AxisControl.VacZ3.IsStop(out bool z3Stoped);
                            AxisControl.VacZ4.IsStop(out bool z4Stoped);
                            AxisControl.VacZ5.IsStop(out bool z5Stoped);
                            AxisControl.VacZ6.IsStop(out bool z6Stoped);
                            AxisControl.VacZ7.IsStop(out bool z7Stoped);
                            if(z1Stoped&&z2Stoped&&z3Stoped&&z4Stoped&&z5Stoped&&z6Stoped&&z7Stoped)
                            {
                                MessageQueue.Instance.Insert("z arrived start point");
                                flowStep++;
                                Thread.Sleep(100);
                            }
                            break;
                        case 2:
                            AxisControl.VacR1.MoveOffset(-360, vel);
                            AxisControl.VacR2.MoveOffset(-360, vel);
                            AxisControl.VacR3.MoveOffset(-360, vel);
                            AxisControl.VacR4.MoveOffset(-360, vel);
                            AxisControl.VacR5.MoveOffset(-360, vel);
                            AxisControl.VacR6.MoveOffset(-360, vel);
                            AxisControl.VacR7.MoveOffset(-360, vel);
                            AxisControl.VacB.MovePos(-108, vel);// (-360, vel);
                            MessageQueue.Instance.Insert("r go to -360");
                            flowStep++;
                            break;
                        case 3:
                            AxisControl.VacR1.IsStop(out bool r1Stoped);
                            AxisControl.VacR2.IsStop(out bool r2Stoped);
                            AxisControl.VacR3.IsStop(out bool r3Stoped);
                            AxisControl.VacR4.IsStop(out bool r4Stoped);
                            AxisControl.VacR5.IsStop(out bool r5Stoped);
                            AxisControl.VacR6.IsStop(out bool r6Stoped);
                            AxisControl.VacR7.IsStop(out bool r7Stoped);
                            AxisControl.VacB.IsStop(out bool bStoped);
                            if (r1Stoped && r2Stoped && r3Stoped && r4Stoped && r5Stoped && r6Stoped && r7Stoped && bStoped)
                            {
                                MessageQueue.Instance.Insert("r arrived -360");
                                flowStep++;
                                Thread.Sleep(100);
                            }
                            break;
                        case 4://所有Z轴运动到终点位
                            AxisControl.VacZ1.MovePos(endPos, vel);
                            AxisControl.VacZ2.MovePos(endPos, vel);
                            AxisControl.VacZ3.MovePos(endPos, vel);
                            AxisControl.VacZ4.MovePos(endPos, vel);
                            AxisControl.VacZ5.MovePos(endPos, vel);
                            AxisControl.VacZ6.MovePos(endPos, vel);
                            AxisControl.VacZ7.MovePos(endPos, vel);
                            flowStep++;
                            MessageQueue.Instance.Insert("z go to end point");
                            break;
                        case 5:
                            AxisControl.VacZ1.IsStop(out z1Stoped);
                            AxisControl.VacZ2.IsStop(out z2Stoped);
                            AxisControl.VacZ3.IsStop(out z3Stoped);
                            AxisControl.VacZ4.IsStop(out z4Stoped);
                            AxisControl.VacZ5.IsStop(out z5Stoped);
                            AxisControl.VacZ6.IsStop(out z6Stoped);
                            AxisControl.VacZ7.IsStop(out z7Stoped);
                            if (z1Stoped && z2Stoped && z3Stoped && z4Stoped && z5Stoped && z6Stoped && z7Stoped)
                            {
                                MessageQueue.Instance.Insert("z arrived end point");
                                flowStep++;
                                Thread.Sleep(100);
                            }
                            break;
                        case 6:
                            AxisControl.VacR1.MoveOffset(360, vel);
                            AxisControl.VacR2.MoveOffset(360, vel);
                            AxisControl.VacR3.MoveOffset(360, vel);
                            AxisControl.VacR4.MoveOffset(360, vel);
                            AxisControl.VacR5.MoveOffset(360, vel);
                            AxisControl.VacR6.MoveOffset(360, vel);
                            AxisControl.VacR7.MoveOffset(360, vel);
                            AxisControl.VacB.MovePos(0, vel);
                            flowStep++;
                            MessageQueue.Instance.Insert("r go to 360");
                            break;
                        case 7:
                            AxisControl.VacR1.IsStop(out r1Stoped);
                            AxisControl.VacR2.IsStop(out r2Stoped);
                            AxisControl.VacR3.IsStop(out r3Stoped);
                            AxisControl.VacR4.IsStop(out r4Stoped);
                            AxisControl.VacR5.IsStop(out r5Stoped);
                            AxisControl.VacR6.IsStop(out r6Stoped);
                            AxisControl.VacR7.IsStop(out r7Stoped);
                            AxisControl.VacB.IsStop(out bStoped);
                            if (r1Stoped && r2Stoped && r3Stoped && r4Stoped && r5Stoped && r6Stoped && r7Stoped&& bStoped)
                            {
                                MessageQueue.Instance.Insert("r arrived 360");
                                flowStep = 0;
                                Thread.Sleep(100);
                            }
                            break;
                        default:
                            break;
                    }

                }
            });
        }
    }
}