using Newtonsoft.Json;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.AuxiliaryEquipment;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Flow.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Rs.MotionPlat.Commom.SchedulingMessageBox;

namespace Rs.MotionPlat.Flow.SubFlow
{
    enum ELaserFlowStep
    {
        到测高穴位上方1,
        等待运动到测高穴位上方1,
        开始测高1,
        到测高穴位上方2,
        等待运动到测高穴位上方2,
        开始测高2,
        测高完成
    }
    /// <summary>
    /// 镭射头测高
    /// </summary>
    public class LaserFlow
    {
        private ELaserFlowStep step;
        string logInfo = string.Empty;
        string alarmInfo = string.Empty;
        bool finished = false;
        ErrorCode errCode = ErrorCode.Ok;

        /// <summary>
        /// 测量点位
        /// </summary>
        //int testPoint = 1;
        TestHeightResult result = new TestHeightResult();
        private LaserFlow() { }
        private static LaserFlow instance;
        public static LaserFlow Instance
        {
            get
            {
                if(instance==null)
                    instance = new LaserFlow();
                return instance;
            }
        }

        private void ResetResult()
        {
            result = new TestHeightResult();
            result.HasProduct = false;
            result.TestHeight2 = 0.0;
            result.TestHeight1 = 0.0;
        }
        /// <summary>
        /// 到测高位测高
        /// </summary>
        /// <param name="trayType"></param>
        /// <param name="slotIndex"></param>
        public TestHeightResult HasProduct(ETrayType trayType,int slotIndex)
        {
            ResetResult();
            SlotPoint targetSlot = new SlotPoint();
            finished = false;
            step = ELaserFlowStep.到测高穴位上方1;
            TargetPosition targetPosition= new TargetPosition();
            AlarmEntity alarmEntity = null;
            while (!finished)
            {
                if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                {
                    Thread.Sleep(10);
                    continue;
                }
                switch (step)
                {
                    case ELaserFlowStep.到测高穴位上方1:
                        if(trayType== ETrayType.Turnover)
                        {
                            targetSlot = TrayPointManager.GetTurnoverTrayCheckHeighPoint(slotIndex);
                        }
                        else if(trayType== ETrayType.Test)
                        {
                            targetSlot = TrayPointManager.GetTestFixtureTrayCheckHeighPoint(slotIndex);
                        }
                        
                        if (targetSlot != null)
                        {
                            targetPosition.X=targetSlot.X;
                            targetPosition.Y=targetSlot.Y;
                            errCode = AxisControl.TurnoverY.MovePos(targetPosition.Y, GlobalVar.WholeSpeed);
                            if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"到{trayType}盘{slotIndex}号穴位的上方1";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ELaserFlowStep.等待运动到测高穴位上方1;
                            }
                            else
                            {
                                //PromptMessageBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, errCode);
                                alarmEntity = AlarmCollection.Get(AlarmConstID.TurnoverY运动异常).Transform(errCode.ToString());
                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
                            }
                        }
                        break;
                    case ELaserFlowStep.等待运动到测高穴位上方1:
                        if (Ops.IsStop(AxisAlias.TurnoverX, AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
                        {
                            if(AxisArrived.TurnoverYIsInTargetPos(targetPosition.Y) || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"已运动到{trayType}盘{slotIndex}号穴位的上方1";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ELaserFlowStep.开始测高1;
                            }
                            else
                            {
                                step = ELaserFlowStep.到测高穴位上方1;
                            }
                        }
                        break;
                    
                    case ELaserFlowStep.开始测高1:
                        result.TestHeight1 = DeviceFactory.checkHeightDev.Read();
                        logInfo = GetClassName() + $"start test height:point1:{result.TestHeight1}";
                        MessageQueue.Instance.Insert(logInfo);
                        step = ELaserFlowStep.到测高穴位上方2;
                        break;
                    case ELaserFlowStep.到测高穴位上方2:
                        if (trayType == ETrayType.Turnover)
                        {
                            targetSlot = TrayPointManager.GetTurnoverTrayCheckHeighPoint(slotIndex);
                        }
                        else if (trayType == ETrayType.Test)
                        {
                            targetSlot = TrayPointManager.GetTestFixtureTrayCheckHeighPoint(slotIndex);
                        }

                        if (targetSlot != null)
                        {
                            if (trayType == ETrayType.Test)
                            {
                                targetPosition.X = targetSlot.X - GlobalVar.TestFixtureTrayTestHeightOffsetX;
                            }
                            else if (trayType == ETrayType.Turnover)
                            {
                                targetPosition.X = targetSlot.X + GlobalVar.TurnoverTrayTestHeightOffsetX;
                            }
                            targetPosition.Y = targetSlot.Y;
                            errCode = AxisControl.TurnoverY.MovePos(targetPosition.Y, GlobalVar.WholeSpeed);
                            if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"到{trayType}盘{slotIndex}号穴位的上方2";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ELaserFlowStep.等待运动到测高穴位上方2;
                            }
                            else
                            {
                                //PromptMessageBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, errCode);
                                alarmEntity = AlarmCollection.Get(AlarmConstID.TurnoverY运动异常).Transform(errCode.ToString());
                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
                            }
                        }
                        break;
                    case ELaserFlowStep.等待运动到测高穴位上方2:
                        if (Ops.IsStop(AxisAlias.TurnoverX, AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
                        {
                            if(AxisArrived.TurnoverYIsInTargetPos(targetPosition.Y) || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"已运动到{trayType}盘{slotIndex}号穴位的上方2";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ELaserFlowStep.开始测高2;
                            }
                            else
                            {
                                step = ELaserFlowStep.到测高穴位上方2;
                            }
                        }
                        break;

                    case ELaserFlowStep.开始测高2:
                        result.TestHeight2 = DeviceFactory.checkHeightDev.Read();
                        logInfo = GetClassName() + $"start test height:point2:{result.TestHeight2}";
                        MessageQueue.Instance.Insert(logInfo);
                        step = ELaserFlowStep.测高完成;
                        break;
                    case ELaserFlowStep.测高完成:
                        result.CalcResult(trayType);
                        logInfo= GetClassName()+ JsonConvert.SerializeObject(result);
                        //LogHelper.Debug(logInfo);
                        MessageQueue.Instance.Insert(GetClassName() + $"测高完成!{logInfo}");
                        finished = true;
                        break;
                    
                }
            }
            return result;
        }

        private string GetClassName()
        {
            return "LaserFlow-";
        }
    }

    /// <summary>
    /// 测高结果
    /// </summary>
    public class TestHeightResult
    {
        /// <summary>
        /// 是否有产品
        /// </summary>
        public bool HasProduct { get; set; }
        /// <summary>
        /// 产品个数
        /// </summary>
        public int ProductCount { get; set; }
        /// <summary>
        /// 测量高度1
        /// </summary>
        public double TestHeight1 { get; set; }
        /// <summary>
        /// 测量高度2
        /// </summary>
        public double TestHeight2 { get; set;}

        /// <summary>
        /// 计算测高结果
        /// </summary>
        public void CalcResult(ETrayType trayType)
        {
            if (trayType == ETrayType.Test)
            {
                //HasProduct = Math.Abs(Math.Abs(TestHeight1 - TestHeight2) - GlobalVar.TestFixtureTrayOffsetHeight)>0.6;
                HasProduct = TestHeight1 - TestHeight2 < GlobalVar.TestFixtureTrayOffsetHeight - 0.3;
                //HasProduct = (TestHeight1 - TestHeight2) > GlobalVar.SocketOneProductHeightMax;
                //if(HasProduct)
                //{
                //    ProductCount = ((TestHeight1 - TestHeight2) < GlobalVar.SocketOneProductHeightMin) ? 2 : 1;
                //}
            }
            else if (trayType == ETrayType.Turnover)
            {
                //HasProduct = Math.Abs((Math.Abs(TestHeight1 - TestHeight2) - GlobalVar.TurnoverTrayOffsetHeight))>0.6;
                HasProduct = TestHeight1 - TestHeight2 < GlobalVar.TurnoverTrayOffsetHeight - 0.3;
                //HasProduct = (TestHeight1 - TestHeight2) > GlobalVar.TurnoverOneProductHeightMax;
                //if (HasProduct)
                //{
                //    ProductCount = ((TestHeight1 - TestHeight2) < GlobalVar.TurnoverTrayHaveOrNotGrayMin) ? 2 : 1;
                //}
            }
        }
    }
}