using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow
{
    /// <summary>
    /// 测试状态
    /// </summary>
    public enum ETestStatus
    {
        /// <summary>
        /// 空闲
        /// </summary>
        Idle,
        /// <summary>
        /// 测试中
        /// </summary>
        Testing,
        /// <summary>
        /// 测试完成
        /// </summary>
        Finished
    }

    public enum EMachineStatus
    {
        /// <summary>
        /// 未初始化
        /// </summary>
        NotInit,
        /// <summary>
        /// 未回原
        /// </summary>
        NotHomed,
        /// <summary>
        /// 回原中
        /// </summary>
        Homing,
        /// <summary>
        /// 回零失败
        /// </summary>
        HomeFail,
        /// <summary>
        /// 回原完成
        /// </summary>
        Homed,
        /// <summary>
        /// 工作中
        /// </summary>
        Working,
        /// <summary>
        /// 暂停
        /// </summary>
        Stop,
        /// <summary>
        /// 报警中
        /// </summary>
        Warning,
        /// <summary>
        /// 急停中
        /// </summary>
        EStop
    }

    public class MachineManage
    {
        private static MachineManage instace;
        public static MachineManage Instance
        {
            get
            {
                if (instace == null)
                    instace = new MachineManage();
                return instace;
            }
        }

        private MachineManage() { }

        public EMachineStatus MachineStatus = EMachineStatus.NotInit;

        public ETestStatus TestStatus = ETestStatus.Idle;

        /// <summary>
        /// 上下料状态（Waiting，Busying，Unloading，Error，Interrupt，）
        /// </summary>
        private ERunState RunState { get; set; } = ERunState.Interrupt;

        /// <summary>
        /// 设备运行状态(Started,Stopped,InAlarm,EMGStop)
        /// </summary>
        private ERunStatus RunStatus { get; set; } = ERunStatus.Stopped;

        /// <summary>
        /// 运行模式(Manual,Automatic)
        /// </summary>
        public ERunMode RunMode { get; set; } = ERunMode.Manual;

        /// <summary>
        /// 初始化状态（Uninitialized，Initializing，Initialized）
        /// </summary>
        public EInitializeState InitializeState { get; set; } = EInitializeState.Uninitialized;

        /// <summary>
        /// 测试机状态
        /// </summary>
        private TesterInfo testerInfo;

        /// <summary>
        /// 物料分配模式(正常或空跑)
        /// </summary>
        public EAssignMode AssignMode { get; set; } = EAssignMode.Normal;

        public bool NeedRestoreMove { get; set; } = false;

        /// <summary>
        /// 设置返回中控的运行状态
        /// </summary>
        /// <param name="status"></param>
        public void SetCenterMachineStatus(ERunStatus status)
        {
            RunStatus= status;
        }

        public void SetTesterState(TesterInfo _testerInfo)
        {
            testerInfo = _testerInfo;
        }

        public TesterInfo GetTesterInfo() {
            return testerInfo;
        }

        /// <summary>
        /// 获取中控运行状态
        /// </summary>
        /// <returns></returns>
        public ERunStatus GetCenterRunStatus()
        {
            return RunStatus;
        }

        /// <summary>
        /// 设置本地运行状态
        /// </summary>
        /// <param name="status"></param>
        public void SetLocalMachineStatus(EMachineStatus status)
        {
            MachineStatus= status;
        }

        /// <summary>
        /// 设置上下料的状态
        /// </summary>
        /// <param name="status"></param>
        public void SetLoadUnloadStatus(ERunState status)
        {
            RunState= status;
        }

        /// <summary>
        /// 获取上下料的状态
        /// </summary>
        /// <returns></returns>
        public ERunState GetLoadUnloadStatus()
        {
            return RunState;
        }
    }
}