using Newtonsoft.Json;
using Rs.Framework;
using Rs.Motion.Base.Config;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime;
using System.Text;
using System.Threading.Tasks;
using static GTN.mc_ecat;

namespace Rs.Motion.Base
{
    [Serializable]
    public class IAxis
    {
        /// <summary>
        /// 目标位置
        /// </summary>
        public double TargetPosition { get; set; }
        public ICard Card { get; set; }
        public bool IsInitialized { get; set; } = false;
        public AxisConfig Config { get; set; }
        public EHomeStatus HomeStatus { get; set; }
        public event Func<bool> FunSafeCheck;

        public bool SafeCheck()
        {
           if(FunSafeCheck != null)
                return FunSafeCheck();
            return true;
        }
        public virtual ErrorCode Init()
        {
            return ErrorCode.Ok;
        }

        public string GetConfigString()
        {
            if(Config != null)
            {
                return JsonConvert.SerializeObject(Config);
            }
            return string.Empty;
        }

        public virtual ErrorCode Deinit()
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode MmToPulse(double mm, out double pulse)
        {
            pulse = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode PulseToMm(double pulse, out double mm)
        {
            mm = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode Enable()
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode Disable()
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode Stop()
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode Default_Home_Move()
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode MovePos(double dfPosVal, int percent = 100)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode MoveJog(short dir, int percent = 10)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode UpdateTargetPosition(double dfNewPosVal)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode ChangeSpeed(double dfNewSpeed)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode IsEnable(out bool bIsEable)
        {
            bIsEable = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode IsHomed(out bool bIsHomed)
        {
            bIsHomed = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode IsStop(out bool bIsStop)
        {
            bIsStop = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode IsInPosition(out bool bIsInPosition)
        {
            bIsInPosition = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetPrfPosition(out double dfCmdPos)
        {
            dfCmdPos = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetEncoderPosition(out double dfEncPos)
        {
            dfEncPos = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetAuEncoderPosition(out double dfEncPos)
        {
            dfEncPos = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetDriverPosition(out double dfEncPos)
        {
            dfEncPos = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetTolerance(out double dfTorlance)
        {
            dfTorlance = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode SetPosCompare(ushort channel, double[] postions)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode CompareStatus(out short _pStatus, out int _pCount)
        {
            _pStatus = 0;
            _pCount = 0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode ComparePulse(ushort channel)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode ClearCompare(ushort uChannel)
        {
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetPelStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetNelStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetOrgStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetAlarmStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetEmgStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetInpStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode GetEzStatus(out bool bIsOn)
        {
            bIsOn = false;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode Home()
        {
            this.HomeStatus = EHomeStatus.Start;
            return ErrorCode.Ok;
        }

        public virtual void Abort_Go_Home()
        {
            if (this.HomeStatus == EHomeStatus.Homing || this.HomeStatus == EHomeStatus.Start)
            {
                this.HomeStatus = EHomeStatus.Abort;
            }
            this.Stop();
        }

        protected virtual void DealHome(object obj)
        {
            try
            {
                this.HomeStatus = EHomeStatus.Finished;
            }
            catch
            {
                this.HomeStatus = EHomeStatus.Fail;
            }
        }

        public virtual ErrorCode Zero(int iOrig)
        {
            return ErrorCode.Ok;
        }


        public virtual ErrorCode Get_Target_Position(out double dfTargetPos)
        {
            dfTargetPos = 0.0;
            return ErrorCode.Ok;
        }

        public virtual ErrorCode ClearAlarm()
        {
            return ErrorCode.Ok;
        }

        /// <summary>
        /// 暂停后恢复
        /// </summary>
        /// <returns></returns>
        public virtual ErrorCode Restore()
        {
            return ErrorCode.Ok;
        }
    }
}