using Rs.Controls;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.Flow
{

    public class HomeFlow
    {
        ushort homeStep = 0;
        private static HomeFlow instace;
        private bool m_bCancle = false;
        private bool m_bHomed = false;
        private Stopwatch homeTime = new Stopwatch();
        public static HomeFlow Instance
        {
            get
            {
                if (instace == null)
                    instace = new HomeFlow();
                return instace;
            }
        }

        public void CancleHome()
        {
            m_bCancle = true;
        }

        private HomeFlow() { }

        public void StartGoHome()
        {
            MachineManage.Instance.InitializeState = EInitializeState.Initializing ;
            homeStep = 0;
            m_bHomed = false;
            Task.Run(() =>
            {
                while (true && !m_bCancle && !m_bHomed)
                {
                    if(GlobalVar.VirtualAxis)
                    {
                        MachineManage.Instance.SetCenterMachineStatus(Commom.ERunStatus.Stopped);
                        MessageQueue.Instance.Insert("Device home ok");
                        MachineManage.Instance.SetLocalMachineStatus(EMachineStatus.Homed);
                        MachineManage.Instance.InitializeState = EInitializeState.Initialized;
                        m_bHomed = true;
                    }
                    else
                    {
                        switch (homeStep)
                        {
                            case 0://所有的Z轴回原
                                string canGohome = CheckCanHome();
                                if (!string.IsNullOrEmpty(canGohome))
                                {
                                    Msg.ShowError($"轴{canGohome}处于报警状态，不能回原");
                                    MessageQueue.Instance.Warn($"轴{canGohome}处于报警状态，不能回原");
                                    m_bCancle = true;
                                }
                                else
                                {
                                    MessageQueue.Instance.Insert("Z轴开始回零");
                                    homeTime.Restart();
                                    MachineManage.Instance.MachineStatus = EMachineStatus.Homing;

                                    AxisControl.GetAxis($"NozzleZ1").Home();
                                    AxisControl.GetAxis($"NozzleZ2").Home();
                                    AxisControl.GetAxis($"NozzleR1").Home();
                                    AxisControl.GetAxis($"NozzleR2").Home();
                                    homeStep++;
                                }
                                break;
                            case 1://等待所有Z轴回原完成
                                if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
                                {
                                    if (Ops.AllZHomed() && Ops.AllRHomed())
                                    {
                                        MessageQueue.Instance.Insert("ZR axis home finished!");
                                        homeStep++;
                                    }
                                }
                                else
                                {

                                    AxisControl.GetAxis($"NozzleZ1").Abort_Go_Home();
                                    AxisControl.GetAxis($"NozzleZ2").Abort_Go_Home();
                                    MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
                                    MessageQueue.Instance.Insert("Device home fail");
                                    CancleHome();
                                }
                                break;
                            case 2:
                                AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
                                AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
                                AxisControl.TurnoverY.MovePos(SysConfigParam.GetValue<double>("PressY"), GlobalVar.WholeSpeed);
                                AxisControl.TurnoverZ.MovePos(SysConfigParam.GetValue<double>("TurnoverSafeZ"), GlobalVar.WholeSpeed);
                                AxisControl.PressZ.MovePos(SysConfigParam.GetValue<double>("PressSafeZ"), GlobalVar.WholeSpeed);
                                homeStep++;
                                break;
                            case 3:
                                if (Ops.IsStop(AxisControl.LoadX, AxisControl.LoadY,AxisControl.TurnoverY,AxisControl.TurnoverZ,AxisControl.PressZ))
                                {
                                    MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
                                    MessageQueue.Instance.Insert("Device home ok");
                                    MachineManage.Instance.MachineStatus = EMachineStatus.Homed;
                                    m_bHomed = true;
                                    MachineManage.Instance.InitializeState = EInitializeState.Initialized;
                                    homeStep = 0;
                                }
                                break;
                            default:
                                break;
                        }
                    }
                    
                }
            });
        }

        private string CheckCanHome()
        {
            return string.Empty;
            List<string> list = new List<string>();
            foreach(IAxis axis in AxisControl.GetAllAxis())
            {
                axis.GetAlarmStatus(out bool bAlarm);
                if(bAlarm)
                {
                    list.Add(axis.Config.AxisName);
                }
            }
            return string.Join(",", list);
        }
    }
}