using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
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 ETurnoverDumpFlowStep
    {
        到放料位下方,
        等待到放料位下方,
        放料完成抬起,
        等待放料完成抬起
    }
    /// <summary>
    /// 当周转吸嘴在治具或者周转盘取料失败时，自动把产品放下去，然后再报警
    /// </summary>
    public class TurnoverDumpFlow
    {
        private TurnoverDumpFlow() { }

        private static TurnoverDumpFlow instance;
        public static TurnoverDumpFlow Instance
        {
            get
            {
                if(instance==null)
                    instance = new TurnoverDumpFlow();
                return instance;
            }
        }
        private ETurnoverDumpFlowStep step = ETurnoverDumpFlowStep.到放料位下方;
        //double targetPos = 0.0;
        TargetPosition targetPosition = new TargetPosition();
        AlarmEntity alarmEntity = null;
        ErrorCode errCode = ErrorCode.Ok;
        string logInfo = string.Empty;
        ManualResetEvent dumpFinished = new ManualResetEvent(true);
        bool finished = true;

        public bool Dump(ETrayType trayType, List<int> transitNozzleList)
        {
            step = ETurnoverDumpFlowStep.到放料位下方;
            if (finished)
            {
                dumpFinished.Reset();
                finished = false;
            }
            else
                return false;
            Task.Run(() => {
                while (!finished)
                {
                    if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                    {
                        Thread.Sleep(10);
                        continue;
                    }
                    switch (step)
                    {
                        case ETurnoverDumpFlowStep.到放料位下方:
                            targetPosition.TurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset * 1.5;
                            errCode = AxisControl.TurnoverZ.MovePos(targetPosition.TurnoverZ, GlobalVar.WholeSpeed);
                            if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"到放料位下方";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ETurnoverDumpFlowStep.等待到放料位下方;
                            }
                            else
                            {
                                //PromptMessageBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
                                alarmEntity = AlarmCollection.Get(AlarmConstID.TurnoverZ运动异常).Transform(errCode.ToString());
                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
                            }
                            break;
                        case ETurnoverDumpFlowStep.等待到放料位下方:
                            if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
                            {
                                //if (Ops.IsArrived(AxisControl.TurnoverZ))
                                if(AxisArrived.TurnoverZIsInTargetPos(targetPosition.TurnoverZ))
                                {
                                    logInfo = GetClassName() + $"已运动到放料位下方";
                                    MessageQueue.Instance.Insert(logInfo);
                                    ////关闭真空吸
                                    VacManager.TransitNozzleVacSuction(EVacOperator.Close, true, transitNozzleList.ToArray());
                                    //打开真空破
                                    VacManager.TransitNozzleVacBreak(EVacOperator.Open, true, transitNozzleList.ToArray());
                                    //关闭真空破
                                    VacManager.TransitNozzleVacBreak(EVacOperator.Close, false, transitNozzleList.ToArray());
                                    step = ETurnoverDumpFlowStep.放料完成抬起;
                                }
                                else
                                {
                                    step = ETurnoverDumpFlowStep.到放料位下方;
                                }
                            }
                            break;
                        case ETurnoverDumpFlowStep.放料完成抬起:
                            errCode = AxisControl.TurnoverZ.MovePos(0, GlobalVar.WholeSpeed);
                            if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"放料完成抬起";
                                MessageQueue.Instance.Insert(logInfo);
                                step = ETurnoverDumpFlowStep.等待放料完成抬起;
                            }
                            else
                            {
                                ///PromptMessageBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
                                alarmEntity = AlarmCollection.Get(AlarmConstID.TurnoverZ运动异常).Transform(errCode.ToString());
                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
                            }
                            break;
                        case ETurnoverDumpFlowStep.等待放料完成抬起:
                            if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
                            {
                                //if (Ops.IsArrived(AxisControl.TurnoverZ))
                                if(AxisArrived.TurnoverZIsInTargetPos(targetPosition.TurnoverZ))
                                {
                                    finished = true;
                                    logInfo = GetClassName() + $"放料完成已抬起";
                                    MessageQueue.Instance.Insert(logInfo);
                                    dumpFinished.Set();
                                    break;
                                }
                                else
                                {
                                    step = ETurnoverDumpFlowStep.放料完成抬起;
                                }
                            }
                            break;
                    }
                    Thread.Sleep(10);
                }
            });
            return true;
        }

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

        string GetClassName()
        {
            return "TurnoverDumpFlow-";
        }
    }
}