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

namespace Rs.MotionPlat.Flow.SubFlow
{
    enum EZRHomeFlowStep
    {
        StartHome,
        WaitHomed,
        GoStartPos,
        WaitArrivedStartPos
    }
    public class ZRHomeFlow
    {
        private ZRHomeFlow() { }

        private static ZRHomeFlow instance;
        public static ZRHomeFlow Instance
        {
            get
            {
                if(instance==null)
                    instance = new ZRHomeFlow();
                return instance;
            }
        }
        private EZRHomeFlowStep step = EZRHomeFlowStep.StartHome;
        bool finished = false;

        public void GoHome(int homeIndex)
        {
            finished = false;
            step = EZRHomeFlowStep.StartHome;
            while (!finished)
            {
                switch (step)
                {
                    case EZRHomeFlowStep.StartHome:
                        //获取Z轴
                        AxisControl.GetAxis($"NozzleZ{homeIndex}").Home();
                        AxisControl.GetAxis($"NozzleR{homeIndex}").Home();
                        //AxisControl.NozzleZ1.Home();
                        //AxisControl.NozzleZ2.Home();
                        //AxisControl.NozzleZ3.Home();
                        //AxisControl.NozzleZ4.Home();
                        //AxisControl.NozzleZ5.Home();
                        //AxisControl.NozzleZ6.Home();
                        //AxisControl.NozzleZ7.Home();
                        //AxisControl.NozzleZ8.Home();

                        //AxisControl.NozzleR1.Home();
                        //AxisControl.NozzleR2.Home();
                        //AxisControl.NozzleR3.Home();
                        //AxisControl.NozzleR4.Home();
                        //AxisControl.NozzleR5.Home();
                        //AxisControl.NozzleR6.Home();
                        //AxisControl.NozzleR7.Home();
                        //AxisControl.NozzleR8.Home();
                        step = EZRHomeFlowStep.WaitHomed;
                        Thread.Sleep(1000);
                        break;
                    case EZRHomeFlowStep.WaitHomed:
                        //if(AxisControl.NozzleZ1.HomeStatus== EHomeStatus.Finished
                        //    && AxisControl.NozzleZ2.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ3.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ4.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ5.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ6.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ7.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleZ8.HomeStatus == EHomeStatus.Finished
                        //     && AxisControl.NozzleR1.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR2.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR3.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR4.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR5.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR6.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR7.HomeStatus == EHomeStatus.Finished
                        //    && AxisControl.NozzleR8.HomeStatus == EHomeStatus.Finished)
                        if (AxisControl.GetAxis($"NozzleZ{homeIndex}").HomeStatus == EHomeStatus.Finished
                         && AxisControl.GetAxis($"NozzleR{homeIndex}").HomeStatus == EHomeStatus.Finished)
                        {
                            step = EZRHomeFlowStep.GoStartPos;
                        }
                        break;
                    case EZRHomeFlowStep.GoStartPos:
                        //for(int i=1;i<9;i++)
                        //{
                        //    double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{i}StartPos");
                        //    AxisControl.GetAxis($"NozzleR{i}").MovePos(targetPos, GlobalVar.WholeSpeed);
                        //}
                        double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{homeIndex}StartPos");
                        AxisControl.GetAxis($"NozzleR{homeIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
                        step = EZRHomeFlowStep.WaitArrivedStartPos;
                        Thread.Sleep(100);
                        break;
                    case EZRHomeFlowStep.WaitArrivedStartPos:
                        //if(Ops.IsStop("NozzleR1")
                        //    && Ops.IsStop("NozzleR2")
                        //    && Ops.IsStop("NozzleR3")
                        //    && Ops.IsStop("NozzleR4")
                        //    && Ops.IsStop("NozzleR5")
                        //    && Ops.IsStop("NozzleR6")
                        //    && Ops.IsStop("NozzleR7")
                        //    && Ops.IsStop("NozzleR8"))
                        if (Ops.IsStop($"NozzleR{homeIndex}"))
                        {
                            finished = true;
                        }
                        break;
                }
                Thread.Sleep(10);
            }
        }
    }
}