using Rs.Controls;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
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;
        private Stopwatch homeTime = new Stopwatch();
        public static HomeFlow Instance
        {
            get
            {
                if (instace == null)
                    instace = new HomeFlow();
                return instace;
            }
        }

        public void CancleHome()
        {
            m_bCancle = true;
        }

        private HomeFlow() { }

        public void StartGoHome()
        {
            MachineManage.Instance.InitializeState = EInitializeState.Initializing ;
            Task.Run(() =>
            {

                while (true && !m_bCancle && !m_bHomed)
                {
                    switch (homeStep)
                    {
                        case 0://所有的Z轴回原
                            MessageQueue.Instance.Insert("Z轴开始回零");
                            m_bHomed = false;
                            homeTime.Restart();
                            MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
                            //料仓Z轴回零
                            AxisControl.GetAxis($"StockZ1").Home();
                            AxisControl.GetAxis($"StockZ2").Home();
                            AxisControl.GetAxis($"StockZ3").Home();
                            AxisControl.GetAxis($"StockZ4").Home();
                            AxisControl.GetAxis($"StockZ5").Home();
                            AxisControl.GetAxis($"StockZ6").Home();

                            AxisControl.GetAxis($"NozzleZ1").Home();
                            AxisControl.GetAxis($"NozzleZ2").Home();
                            AxisControl.GetAxis($"NozzleZ3").Home();
                            AxisControl.GetAxis($"NozzleZ4").Home();
                            AxisControl.GetAxis($"NozzleZ5").Home();
                            AxisControl.GetAxis($"NozzleZ6").Home();
                            AxisControl.GetAxis($"NozzleZ7").Home();
                            AxisControl.GetAxis($"NozzleZ8").Home();
                            AxisControl.GetAxis($"NozzleZ9").Home();
                            //保压Z轴回原 
                            AxisControl.PressZ.Home();
                            //周转Z轴回原
                            AxisControl.TurnoverZ.Home();
                            homeStep++;
                            break;
                        case 1://等待所有Z轴回原完成
                            if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
                            {
                                if (Ops.AllZHomed()  && Ops.IsHomed("StockZ1","StockZ2", "StockZ3", "StockZ4", "StockZ5", "StockZ6", "PressZ", "TurnoverZ"))
                                {
                                    MessageQueue.Instance.Insert("Z axis home finished!");
                                    homeStep++;
                                }
                            }
                            else
                            {
                                AxisControl.GetAxis($"StockZ1").Abort_Go_Home();
                                AxisControl.GetAxis($"StockZ2").Abort_Go_Home();
                                AxisControl.GetAxis($"StockZ3").Abort_Go_Home();
                                AxisControl.GetAxis($"StockZ4").Abort_Go_Home();
                                AxisControl.GetAxis($"StockZ5").Abort_Go_Home();
                                AxisControl.GetAxis($"StockZ6").Abort_Go_Home();

                                AxisControl.GetAxis($"NozzleZ1").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ2").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ3").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ4").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ5").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ6").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ7").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ8").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleZ9").Abort_Go_Home();
                                //保压Z轴回原 
                                AxisControl.PressZ.Abort_Go_Home();
                                //周转Z轴回原
                                AxisControl.TurnoverZ.Abort_Go_Home();
                                MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
                                MessageQueue.Instance.Insert("Device home fail");
                                CancleHome();
                            }
                            break;
                        case 2:
                            AxisControl.TurnoverZ.MovePos(0.22, GlobalVar.WholeSpeed);
                            AxisControl.PressZ.MovePos(0.2, GlobalVar.WholeSpeed);
                            homeStep++;
                            break;
                        case 3:
                            if (Ops.IsStop("TurnoverZ", "PressZ"))
                            {
                                Thread.Sleep(100);
                                homeStep++;
                            }
                            break;
                        case 4://XY回零
                            MessageQueue.Instance.Insert("x y r go home");
                            AxisControl.GetAxis($"NozzleR1").Home();
                            AxisControl.GetAxis($"NozzleR2").Home();
                            AxisControl.GetAxis($"NozzleR3").Home();
                            AxisControl.GetAxis($"NozzleR4").Home();
                            AxisControl.GetAxis($"NozzleR5").Home();
                            AxisControl.GetAxis($"NozzleR6").Home();
                            AxisControl.GetAxis($"NozzleR7").Home();
                            AxisControl.GetAxis($"NozzleR8").Home();
                            AxisControl.GetAxis($"NozzleR9").Home();
                            AxisControl.LoadX.Home();
                            AxisControl.LoadY.Home();
                            AxisControl.TurnoverY.Home();
                            homeStep++;
                            break;
                        case 5:

                            if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
                            {
                                if (Ops.IsHomed("LoadX", "LoadY", "TurnoverY") && Ops.AllRHomed())
                                {
                                    homeStep++;
                                }
                            }
                            else
                            {
                                AxisControl.GetAxis($"NozzleR1").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR2").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR3").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR4").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR5").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR6").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR7").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR8").Abort_Go_Home();
                                AxisControl.GetAxis($"NozzleR9").Abort_Go_Home();
                                AxisControl.LoadX.Abort_Go_Home();
                                AxisControl.LoadY.Abort_Go_Home();
                                AxisControl.TurnoverY.Abort_Go_Home();
                                MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
                                MessageQueue.Instance.Insert("Device home fail");
                                CancleHome();
                            }
                            break;
                        case 6://go to start position
                            Thread.Sleep(200);
                            AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), 4);
                            AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), 4);
                            AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), 4);
                            AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), 4);
                            AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), 4);
                            AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), 4);
                            AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), 4);
                            AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), 4);
                            AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), 4);
                            AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), 4);
                            AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), 4);
                            homeStep++;
                            break;
                            case 7:
                            if (Ops.IsStop("LoadX","LoadY","NozzleR1", "NozzleR2", "NozzleR3", "NozzleR4", "NozzleR5", "NozzleR6", "NozzleR7", "NozzleR8", "NozzleR9"))
                            {
                                MachineManage.Instance.RunStatus = Commom.ERunStatus.Stopped;
                                MessageQueue.Instance.Insert("Device home ok");
                                MachineManage.Instance.MachineStatus = EMachineStatus.Homed;
                                m_bHomed = true;
                                MachineManage.Instance.InitializeState = EInitializeState.Initialized;
                            }
                            break;
                        default:
                            break;
                    }
                }
            });
        }
    }
}