using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.Recipe
{
    public partial class ExceptionTrayConfig : BaseForm
    {
        SqliteHelper db = new SqliteHelper();
        DataTable dt = new DataTable();
        /// <summary>
        /// 被选中的穴位
        /// </summary>
        private TraySlot selectedSlot;
        public ExceptionTrayConfig()
        {
            InitializeComponent();
        }


        private void btnCreateMatrix_Click(object sender, EventArgs e)
        {
            string deleteSql = $"delete from traypoints where recipename='{GlobalVar.CurRecipe}' and trayname='{dt.Rows[0]["trayname"]}'";
            db.ExecuteNonQuery(deleteSql);
            int rowNum = int.Parse(dt.Rows[0]["RowNum"].ToString());
            int colNum = int.Parse(dt.Rows[0]["ColumnNum"].ToString());
            int index = 1;
            for (int i = 0; i < rowNum; i++)
            {
                for (int j = 0; j < colNum; j++)
                {
                    double xRun = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
                    double yRun = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
                    string insertRunSql = $"insert into TrayPoints(trayid,recipename,trayname,slotindex,x,y) values({dt.Rows[0]["id"]},'{GlobalVar.CurRecipe}', '{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
                    db.ExecuteNonQuery(insertRunSql);
                    index++;
                }
            }
            BindPoints();
        }

        private void BindPoints()
        {
            string querySql = $"select * from normaltray where recipename='{GlobalVar.CurRecipe}' and trayname='ExceptiontTray'";
            dt = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                txtMarkX1.Text = dt.Rows[0]["MarkX1"].ToString();
                txtMarkY1.Text = dt.Rows[0]["MarkY1"].ToString();

                txtSlotOffsetDistX.Text = dt.Rows[0]["SlotOffsetDistX"].ToString();
                txtSlotOffsetDistY.Text = dt.Rows[0]["SlotOffsetDistY"].ToString();
            }
            querySql = $"select * from TrayPoints where trayname='{dt.Rows[0]["TrayName"]}'";
            DataTable dtRunPoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
            {
                dgvRunPoints.DataSource = dtRunPoints;
            }

        }



        private void ExceptionTrayConfig_Load(object sender, EventArgs e)
        {
            dgvRunPoints.AutoGenerateColumns = false;
            BindPoints();
            LoadSysParam(groupBox4);
        }

        
        private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot = arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void goToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (selectedSlot != null)
            {
                int nozzleIndex = 0;
                string querySql = $"select * from TrayPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if (ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    ToolStripMenuItem subMenu = sender as ToolStripMenuItem;
                    ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
                    //if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                    //{
                    //    nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
                    //    SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
                    //    targetX += dist.X;
                    //    targetY += dist.Y;
                    //}
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move turnoverx to {targetX},turnovery to {targetY}?");
                    if (dr == DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("TurnoverX").MovePos(targetX, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis TurnoverX move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("TurnoverY").MovePos(targetY, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis TurnoverY move fail,ret={errCode}");
                            return;
                        }
                        if (subMenu.Text.IndexOf("DumpProduct") >= 0)
                        {
                            DumpProduct(selectedSlot.Index, nozzleIndex);
                        }
                    }
                }
            }
        }

        
        /// <summary>
        /// 放料
        /// </summary>
        private void DumpProduct(int slotIndex, int nozzleIndex)
        {
            ErrorCode errCode = ErrorCode.Ok;
            Task.Run(() => {
                //开吸嘴真空
                //关闭周转盘真空吸
                //打开周转盘真空破
                //关闭真空破
                while (true)
                {
                    if (Ops.IsStop("TurnoverX") && Ops.IsStop("TurnoverY"))
                        break;
                    Thread.Sleep(10);
                }
                DialogResult dr = Msg.ShowQuestion("Are you sure to dump product?", MessageBoxButtons.OKCancel);
                if (dr == DialogResult.OK)
                {
                    errCode = AxisControl.GetAxis($"TurnoverZ").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"TurnoverZ"))
                    {
                        Thread.Sleep(10);
                    }

                    Ops.On("独立吸头气缸");
                    while(!Ops.IsOn("独立吸头气缸动位"))
                    {
                        Thread.Sleep(10);
                    }
                    //关闭真空吸
                    Ops.Off($"独立吸头真空吸");
                    Thread.Sleep(100);

                    Ops.On($"独立吸头真空破");
                    Thread.Sleep(50);

                    Ops.Off("独立吸头气缸");
                    while (!Ops.IsOn("独立吸头气缸原位"))
                    {
                        Thread.Sleep(10);
                    }
                   
                    errCode = AxisControl.GetAxis($"TurnoverZ").MovePos(0, GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"TurnoverZ"))
                    {
                        Thread.Sleep(10);
                    }
                }
            });
        }

        private void btnTeach_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnTeach", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double pos = Ops.GetCurPosition(txt.Tag.ToString());
                txt.Text = pos.ToString("0.000");
                if (ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {txt.Name.Replace("txt", "")}={pos} where recipename='{GlobalVar.CurRecipe}' and trayname='{dt.Rows[0]["trayname"]}'";
                    if (db.ExecuteNonQuery(updateSql) > 0)
                    {
                        BindPoints();
                        Msg.ShowInfo("teach point ok!");
                    }
                }
            }
        }

        private void btnMove_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnMove", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double targetPos = double.Parse(txt.Text);
                DialogResult dr = Msg.ShowQuestion($"are you sure to move axis {txt.Tag} to postion at:{targetPos}?");
                if (dr == DialogResult.OK)
                {
                    Motion.ErrorCode errCode = AxisControl.GetAxis(txt.Tag.ToString()).MovePos(targetPos, 4);
                    if (errCode != Motion.ErrorCode.Ok)
                    {
                        Msg.ShowError($"axis {txt.Tag.ToString()} move fail {errCode}");
                    }
                }
            }
        }

        private void btnSavePoint_Click(object sender, EventArgs e)
        {
            Button button = (Button)sender;
            string name = button.Name.Replace("btnSave", "");
            Control txt = ControlManager.FindControl(this, "txt" + name);
            if (txt != null)
            {
                if (ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {name}={txt.Text} where id={dt.Rows[0]["id"]}";
                    if (db.ExecuteNonQuery(updateSql) > 0)
                    {
                        Msg.ShowInfo("save ok!");
                    }
                }
            }
        }

        private void txtPoint_KeyUp(object sender, KeyEventArgs e)
        {
            TextBox txtKey= (TextBox)sender;
            if(e.KeyCode== Keys.Enter)
            {
                string key = txtKey.Name.Replace("txt", "");
                string value = txtKey.Text;
                if(SysConfigParam.Update(key, value)>0)
                {
                    Msg.ShowInfo("Save success!");
                }
            }
        }

        private void rsTray1_SlotClickEvent_1(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot = arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }
    }
}