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

namespace Rs.MotionPlat.Flow.Common
{
    public static class AxisArrived
    {
        /// <summary>
        /// 检测XY是否在目标位置上
        /// </summary>
        /// <param name="xTargetPos"></param>
        /// <param name="yTargetPos"></param>
        /// <returns></returns>
        public static bool LoadXYIsArrived(double xTargetPos, double yTargetPos)
        {
            if (GlobalVar.VirtualAxis)
                return true;
            Stopwatch timer = new Stopwatch();
            timer.Start();
            while (timer.ElapsedMilliseconds < 3000)
            {
                double xCurPos = Ops.GetCurPosition(AxisControl.LoadX);
                double yCurPos = Ops.GetCurPosition(AxisControl.LoadY);
                if ((Math.Abs(xTargetPos - xCurPos) < AxisControl.LoadX.Config.Tolerance
                    && Math.Abs(yTargetPos - yCurPos) < AxisControl.LoadY.Config.Tolerance) || GlobalVar.VirtualAxis)
                {
                    timer.Stop();
                    return true;
                }
            }
            timer.Stop();
            return false;
        }

        /// <summary>
        /// 检测XY是否在目标位置上
        /// </summary>
        /// <param name="xTargetPos"></param>
        /// <param name="yTargetPos"></param>
        /// <returns></returns>
        public static bool TurnoverYIsInTargetPos(double yTargetPos)
        {
            Stopwatch timer = new Stopwatch();
            timer.Start();
            while (timer.ElapsedMilliseconds < 3000)
            {
                double yCurPos = Ops.GetCurPosition(AxisControl.TurnoverY);
                if ((Math.Abs(yTargetPos - yCurPos) < AxisControl.TurnoverY.Config.Tolerance) || GlobalVar.VirtualAxis)
                {
                    timer.Stop();
                    return true;
                }
            }
            timer.Stop();
            return false;
        }

        /// <summary>
        /// 检测TurnoverZ是否在目标位置上
        /// </summary>
        /// <param name="xTargetPos"></param>
        /// <param name="yTargetPos"></param>
        /// <returns></returns>
        public static bool TurnoverZIsInTargetPos(double zTargetPos)
        {
            Stopwatch timer = new Stopwatch();
            timer.Start();
            while (timer.ElapsedMilliseconds < 3000)
            {
                double zCurPos = Ops.GetCurPosition(AxisControl.TurnoverZ);
                if ((Math.Abs(zTargetPos - zCurPos) < AxisControl.TurnoverZ.Config.Tolerance) || GlobalVar.VirtualAxis)
                {
                    timer.Stop();
                    return true;
                }
            }
            timer.Stop();
            return false;
        }

        /// <summary>
        /// 检测TurnoverZ是否在目标位置上
        /// </summary>
        /// <param name="xTargetPos"></param>
        /// <param name="yTargetPos"></param>
        /// <returns></returns>
        public static bool PressZIsInTargetPos(double zTargetPos)
        {
            Stopwatch timer = new Stopwatch();
            timer.Start();
            while (timer.ElapsedMilliseconds < 3000)
            {
                double zCurPos = Ops.GetCurPosition(AxisControl.PressZ);
                if ((Math.Abs(zTargetPos - zCurPos) < AxisControl.PressZ.Config.Tolerance) || GlobalVar.VirtualAxis)
                {
                    timer.Stop();
                    return true;
                }
            }
            timer.Stop();
            return false;
        }
    }
}