using GTN;
using gts;
using Rs.Framework;
using Rs.Motion.Base;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Net.NetworkInformation;
using System.Text;
using System.Threading.Tasks;

namespace Rs.Motion.GugaoPulse
{
    /// <summary>
    /// 固高脉冲卡
    /// </summary>
    public class GugaoPulseCardManager : ICardManager
    {
        /// <summary>
        /// 执行底层接口的返回值
        /// </summary>
        private short apiResult = 0;
        private short core = 1;
        /// <summary>
        /// 保存一共有多少张卡
        /// </summary>
        Dictionary<ushort,ICard> cardDic= new Dictionary<ushort,ICard>();
        private GugaoPulseCardManager() { 
        
        }

        private static GugaoPulseCardManager instance;
        public static GugaoPulseCardManager Instance
        {
           get 
            { 
                if(instance==null)
                {
                    instance = new GugaoPulseCardManager();
                }

                return instance;
            }
        }

        /// <summary>
        /// 同一类卡统一初始化
        /// </summary>
        /// <returns></returns>
        public override ErrorCode Init()
        {

            //打开运动控制卡
            apiResult = mc_pulse.GT_Open(0, 0, 1);
            if(apiResult!= 0)
            {
                return ErrorCode.CardInitFail;
            }
            //清楚报警和限位
            apiResult = mc_pulse.GT_ClrSts(0, 1, 8);
            if (apiResult != 0)
            {
                return ErrorCode.Fail;
            }
            IsInitialized = true;
            return ErrorCode.Ok;
        }

        public ICard GetCard(ushort cardID)
        {
            if(cardDic.ContainsKey(cardID)) return cardDic[cardID];
            else
            {
                if(cardID==0)
                {
                    ICard card = new GugaoPulseCard(cardID, 8, "gugao0.xml");
                    card.Init();
                    cardDic.Add(cardID, card);
                    return card;
                }
            }
            return null;
        }

    }
}