using log4net.Util;
using Rs.Motion.Base;
using Rs.Motion.GugaoEcat;
using Rs.Motion.GugaoPulse;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow
{
    public class AxisControl
    {
        public static IAxis GetAxis(string axisname)
        {
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                if (item.Name == axisname)
                {
                    IAxis axis =(IAxis) item.GetValue(null);
                    return axis;
                }
            }
            return null;
        }

        public static List<IAxis> GetAllAxis()
        {
            List<IAxis> allAxis = new List<IAxis>();
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                IAxis axis = (IAxis)item.GetValue(null);
                allAxis.Add(axis);
            }
            return allAxis;
        }

        #region 固高

        /// <summary>
        /// 上料X轴
        /// </summary>
        public static IAxis LoadX
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(nameof(LoadX));
                //return GugaoPulseCardManager.Instance.GetCard(0).GetAxis(nameof(LoadX));
            }
        }

        /// <summary>
        /// 上料Y轴
        /// </summary>
        public static IAxis LoadY
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(nameof(LoadY));
                //return GugaoPulseCardManager.Instance.GetCard(0).GetAxis(nameof(LoadY));
            }
        }

        /// <summary>
        /// 周转Y轴
        /// </summary>
        public static IAxis TurnoverY
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(nameof(TurnoverY));
            }
        }

        /// <summary>
        /// 周转Z轴
        /// </summary>
        public static IAxis TurnoverZ
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(nameof(TurnoverZ));
            }
        }

        /// <summary>
        /// 测试Z
        /// </summary>
        public static IAxis PressZ
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(nameof(PressZ));
            }
        }
        #endregion

        #region 吸嘴Z
        public static IAxis NozzleZ1
        {
            get
            {
                return ZtmCardManager.Instance.GetCard(1).GetAxis(nameof(NozzleZ1));
            }
        }
        public static IAxis NozzleZ2
        {
            get
            {
                return ZtmCardManager.Instance.GetCard(1).GetAxis(nameof(NozzleZ2));
            }
        }
        
        #endregion

        #region 吸嘴R
        public static IAxis NozzleR1
        {
            get
            {
                return ZtmCardManager.Instance.GetCard(1).GetAxis(nameof(NozzleR1));
            }
        }
        public static IAxis NozzleR2
        {
            get
            {
                return ZtmCardManager.Instance.GetCard(1).GetAxis(nameof(NozzleR2));
            }
        }
       
        #endregion

        #region 全部使能
        /// <summary>
        /// 全部使能
        /// </summary>
        public static void AllEnable()
        {
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                IAxis axis = ((IAxis)item.GetValue(null));
                if(axis != null)
                {
                    axis.Stop();
                    axis.Enable();
                }
            }
        }
        #endregion

        #region 全部轴去使能
        /// <summary>
        /// 全部轴去使能
        /// </summary>
        public static void AllDisable()
        {
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                IAxis axis = ((IAxis)item.GetValue(null));
                if(axis!=null)
                {
                    axis.Stop();
                    Thread.Sleep(10);
                    axis.Disable();
                }
                
            }
        }
        #endregion

        public static void AllAbortHome()
        {
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                IAxis axis = ((IAxis)item.GetValue(null));
                if(axis!=null)
                {
                    axis.Abort_Go_Home();
                    Thread.Sleep(10);
                }
                
            }
        }

        /// <summary>
        /// 全部停止
        /// </summary>
        public static void AllStop()
        {
            Type type = typeof(AxisControl);
            PropertyInfo[] pis = type.GetProperties(System.Reflection.BindingFlags.Static | BindingFlags.Public);
            foreach (var item in pis)
            {
                IAxis axis = ((IAxis)item.GetValue(null));
                if(axis!=null) {
                    axis.Stop();
                }
                
            }
        }
    }
}