using HalconDotNet;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
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.SafePosFlow
{
    
    /// <summary>
    /// 排料头模组回安全位
    /// </summary>
    public class DischargeModuleGoSafePosFlow: GoSafePosFlow
    {
        private static DischargeModuleGoSafePosFlow instance;
        public static DischargeModuleGoSafePosFlow Instance
        {
            get
            {
                if (instance == null)
                    instance = new DischargeModuleGoSafePosFlow();
                return instance;
            }
        }
        /// <summary>
        /// 排料头回安全位
        /// </summary>
        public override void GoSafePostion(EExceptionSafePos ePos = EExceptionSafePos.Socket)
        {
            if (finished)
            {
                taskFinishedEvent.Reset();
                finished = false;
            }
            else {
                MessageQueue.Instance.Warn("检测到回安全位还未结束");
                return;
            }
            step = EGoSafePosFlowStep.到安全位;
            while (true && !finished)
            {
                if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                {
                    Thread.Sleep(10);
                    continue;
                }
                switch (step)
                {
                    case EGoSafePosFlowStep.到安全位:
                        errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
                        if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                        {
                            errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
                            if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"到安全位";
                                MessageQueue.Instance.Insert(logInfo);
                                if (GlobalVar.VirtualAxis)
                                {
                                    Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
                                }
                                step = EGoSafePosFlowStep.等待运动到安全位;
                            }
                            else
                            {
                                PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
                            }
                        }
                        else
                        {
                            PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
                        }

                        break;
                    case EGoSafePosFlowStep.等待运动到安全位:
                        if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
                        {
                            logInfo = GetClassName() + $"已运动到安全位";
                            MessageQueue.Instance.Insert(logInfo);
                            finished = true;
                            taskFinishedEvent.Set();
                        }
                        break;
                    default:
                        break;
                }
                Thread.Sleep(10);
            }
            //taskFinishedEvent.WaitOne();
        }

        /// <summary>
        /// 判断是否在安全位
        /// </summary>
        /// <returns></returns>
        public bool IsInSafePostion()
        {
            double x = SysConfigParam.GetValue<double>("LoadXStartPos");
            double y = SysConfigParam.GetValue<double>("LoadYStartPos");
            if(Math.Abs(Ops.GetCurPosition(AxisControl.LoadX)-x)<0.1 && Math.Abs(Ops.GetCurPosition(AxisControl.LoadY) - y)<0.1)
            {
                return true;
            }
            return false;
        }
        public string GetClassName()
        {
            return "DischargeModuleGoSafePosFlow-";
        }

        public void Wait()
        {
            taskFinishedEvent.WaitOne();
        }
    }
}