using Rs.Camera;
using Rs.Framework;
using Rs.Motion.GugaoEcat;
using Rs.Motion.GugaoPulse;
using Rs.Motion;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Rs.Motion.Base;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.ToolTip;
using Rs.Controls;
using System.Threading;
using System.Diagnostics;
using Rs.MotionPlat.AuxiliaryEquipment;
using System.Windows.Forms;
using Rs.MotionPlat.Flow.SubFlow;
using Rs.DataAccess;
using System.Data;

namespace Rs.MotionPlat.Commom
{
    public class Ops
    {
        public static bool Pause { get; set; } = false;
        public static void Init()
        {
            InitDb();
            SysConfigParam.Init();
            int errNum = 0;
            //Task.Run(() => {
            if(!GlobalVar.VirtualAxis)
            {
                #region 初始化固高卡
                ErrorCode errCode = GugaoCardManager.Instance.Init();// GugaoPulseCardManager.Instance.Init();
                if (errCode > ErrorCode.Ok)
                {
                    errNum++;
                    MessageQueue.Instance.Warn($"Gugao motion card load fail {errCode}");
                    LogHelper.Debug($"Gugao motion card load fail {errCode}");
                }
                else
                {
                    MessageQueue.Instance.Insert("Gugao motion card load success");
                }
                #endregion

                #region 初始化ztm卡
                errCode = ZtmCardManager.Instance.Init();
                if (errCode > ErrorCode.Ok)
                {
                    errNum++;
                    MessageQueue.Instance.Warn($"rs motion card load fail {errCode}"); return;
                }
                else
                {
                    MessageQueue.Instance.Insert("rs motion card load ok");

                }
                #endregion

                #region 初始化IO
                IoManager.Instance.Init();
                #endregion

                #region 链接相机
                //链接相机
                ECameraErrorCode ceCode = HikCamera.Instance.Init();
                if (ceCode > ECameraErrorCode.Ok)
                {
                    errNum++;
                    //MessageQueue.Instance.Warn(ceCode.ToString());
                    Msg.ShowError("Camera open fail!!!Please try again in 30 seconds");
                    //System.Environment.Exit(0);
                }
                else
                {
                    MessageQueue.Instance.Insert("Camera load ok!");

                    int ret = HikCamera.Instance.SetReverseX("upCamera", EDir.Y, false);
                    ret += HikCamera.Instance.SetReverseX("upCamera", EDir.X, false);
                    if (ret != 0)
                    {
                        MessageQueue.Instance.Warn("Camera init error");
                    }
                    ret = 0;
                    ret = HikCamera.Instance.SetReverseX("locationCamera", EDir.X, false);
                    ret += HikCamera.Instance.SetReverseX("locationCamera", EDir.Y, true);
                    if (ret != 0)
                    {
                        MessageQueue.Instance.Warn("Camera init error");
                    }

                    ret = HikCamera.Instance.StartGrab("upCamera");
                    if (ret != 0)
                    {
                        MessageQueue.Instance.Warn("Camera init error");
                    }
                    ret = HikCamera.Instance.StartGrab("locationCamera");
                    if (ret != 0)
                    {
                        MessageQueue.Instance.Warn("Camera init error");
                    }

                    ret = HikCamera.Instance.StartGrab("scanCamera");
                    if (ret != 0)
                    {
                        MessageQueue.Instance.Warn("Camera init error");
                    }
                }
                #endregion

                //使能所有轴卡
                AxisControl.AllEnable();
                SafeControl.Instance.Init();
                
                AxisControl.AllStop();
                if (errNum == 0)
                {
                    MessageQueue.Instance.Insert("Init finished");
                }
                else
                {
                    MessageQueue.Instance.Warn("Init fail");
                }
                if (!DeviceFactory.Init())
                {
                    Msg.ShowError("laser connect fail!");
                }
                QifuManager.Instance.Init();
                QifuManager.Instance.Write(SysConfigParam.GetValue<float>("QifuValue"));
                LightManger.Instance.SetStatus(ELightStatus.YellowBlink);
                Off("启动灯");
                Off("停止灯");
            }
            NozzleManager.Init();
            TrayPointManager.LoadPoint();
            TurnoverSlotOffset.Init();
            MonitorSystemButton.Instance.Start();
            TestCenter.Instance.Init();
            
            
            SysConfigParam.Update("EnableVirtuleBarCode", "False");
            
        }

        static void InitDb()
        {
            SqliteHelper db = new SqliteHelper();
            string querySql = "select * from SysParameter where fieldname='LocationFailAutoSkip'";
            string insertSql = string.Empty;
            DataTable dt = db.GetDataTable(querySql);
            if(dt==null || dt.Rows.Count==0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('LocationFailAutoSkip','bool','True','拍照定位失败自动跳过','system',1)";
                db.ExecuteNonQuery(insertSql);
            }
            querySql = "select * from SysParameter where fieldname='StockBeltSpeed'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('StockBeltSpeed','int','2','料仓皮带速度','system',1)";
                db.ExecuteNonQuery(insertSql);
            }
            querySql = "select * from SysParameter where fieldname='TakeTrayFromNg2InputSpeed'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('TakeTrayFromNg2InputSpeed','int','2','搬运带料料盘速度','system',1)";
                db.ExecuteNonQuery(insertSql);
            }
            querySql = "select * from SysParameter where fieldname='Socket9_16ExceptionX'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('Socket9_16ExceptionX','double','0','Socket9-16异常处理位X','system',1)";
                db.ExecuteNonQuery(insertSql);
            }
            querySql = "select * from SysParameter where fieldname='Socket9_16ExceptionY'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('Socket9_16ExceptionY','double','0','Socket9-16异常处理位Y','system',1)";
                db.ExecuteNonQuery(insertSql);
            }

            querySql = "select * from SysParameter where fieldname='TurnoverOneProductHeightMin'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('TurnoverOneProductHeightMin','double','0','周转盘一个产品时的高度差的最小值','tray',1)";
                db.ExecuteNonQuery(insertSql);
            }

            querySql = "select * from SysParameter where fieldname='TurnoverOneProductHeightMax'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('TurnoverOneProductHeightMax','double','0','周转盘一个产品时的高度差的最大值','tray',1)";
                db.ExecuteNonQuery(insertSql);
            }

            querySql = "select * from SysParameter where fieldname='SocketOneProductHeightMin'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('SocketOneProductHeightMin','double','0','Socket一个产品时的高度差的最小值','tray',1)";
                db.ExecuteNonQuery(insertSql);
            }

            querySql = "select * from SysParameter where fieldname='SocketOneProductHeightMax'";
            dt = db.GetDataTable(querySql);
            if (dt == null || dt.Rows.Count == 0)
            {
                insertSql = $"insert into SysParameter(fieldname,fieldtype,fieldvalue,Desc,category,enable) values('SocketOneProductHeightMax','double','0','Socket一个产品时的高度差的最大值','tray',1)";
                db.ExecuteNonQuery(insertSql);
            }
        }


        public static void Start()
        {
            //先检测门禁
            if(IoManager.Instance.ReadIn("后安全门禁")==0)
            {
                MessageQueue.Instance.Warn("door opened,please close door!!!");
            }
            else
            {
                bool run = true;
                if (GlobalVar.EnableVirtuleBarCode)
                {
                    DialogResult dr = Msg.ShowQuestion("device run use virtual barcode?");
                    if (dr == DialogResult.Cancel)
                    {
                        run = false;
                    }
                }
                if (run)
                {
                    Task.Run(() => {
                        if (MachineManage.Instance.MachineStatus == EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                        {
                            MachineManage.Instance.SetLocalMachineStatus(EMachineStatus.Working);
                            On("启动灯");
                            Off("停止灯");
                            LightManger.Instance.SetStatus(ELightStatus.Green);
                            DischargeFlow.Instance.Start();
                            TurnoverFlow.Instance.Start();
                            MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Started);
                            if (MachineManage.Instance.GetLoadUnloadStatus() != ERunState.Busying)
                            {
                                MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
                            }
                        }
                    });
                }
            }
        }

        public static void Stop()
        {
            if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
            {
                LightManger.Instance.SetStatus(ELightStatus.Yellow);
                Off("启动灯");
                On("停止灯");
                DischargeFlow.Instance.Stop();
                TurnoverFlow.Instance.Stop();
                MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
                if(MachineManage.Instance.GetLoadUnloadStatus()== ERunState.Waiting)
                {
                    MachineManage.Instance.SetLoadUnloadStatus(ERunState.Interrupt);
                }
                MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
            }
            else if(MachineManage.Instance.MachineStatus== EMachineStatus.Homing)
            {
                foreach (IAxis axis in AxisControl.GetAllAxis())
                {
                    axis.Abort_Go_Home();
                }
            }
           
        }

        public static void GoHome()
        {
            if (MachineManage.Instance.MachineStatus == EMachineStatus.Homed
                || MachineManage.Instance.MachineStatus == EMachineStatus.NotInit
                || MachineManage.Instance.MachineStatus == EMachineStatus.NotHomed
                || MachineManage.Instance.MachineStatus == EMachineStatus.Stop
                )
            {
                HomeFlow.Instance.StartGoHome();
            }
            else
            {
                MessageQueue.Instance.Warn($"device state {MachineManage.Instance.MachineStatus} cann't home!");
            }
        }
        /// <summary>
        /// 检测轴是否报警
        /// </summary>
        /// <param name="axis"></param>
        /// <returns></returns>
        public static List<IAxis> AxiesAlarm(params IAxis[] axies)
        {
            ErrorCode errCode = ErrorCode.Ok;
            bool bAlarm = false;
            List<IAxis> axes= new List<IAxis>();
            foreach (IAxis axis in axies)
            {
                errCode = axis.GetAlarmStatus(out bAlarm);
                if (errCode == ErrorCode.Ok)
                {
                    if(bAlarm)
                        axes.Add(axis);
                }
                else
                {
                    axes.Add(axis);
                }
            }
            return axes;
        }
        public static bool IsStop(params string[] axies)
        {
            foreach (var axisname in axies)
            {
                if (!IsStop(AxisControl.GetAxis(axisname)))
                    return false;
            }
            return true;
        }
        public static bool IsStop(params IAxis[] axies)
        {
            foreach (var axis in axies)
            {
                axis.IsStop(out bool bStop);
                if (!bStop)
                    return false;
            }
            return true;
        }
        /// <summary>
        /// 判断轴是否运动到位
        /// </summary>
        /// <param name="axies"></param>
        /// <returns></returns>
        public static bool IsInPosition(params IAxis[] axies)
        {
            foreach (var axis in axies)
            {
                axis.IsInPosition(out bool bArrived);
                if (!bArrived)
                    return false;
            }
            return true;
        }

        //public static MoveResult IsStop( IAxis axis)
        //{
        //    ErrorCode errCode = ErrorCode.Ok;
        //    MoveResult mr = new MoveResult();
        //    errCode = axis.GetAlarmStatus(out bool bAlarm);
        //    if (errCode == ErrorCode.Ok)
        //    {
        //        mr.IsAlarm= bAlarm;
        //        errCode = axis.IsStop(out bool bStop);
        //        if(errCode== ErrorCode.Ok)
        //        {
        //            mr.IsStop= bStop;
        //        }
        //    }
        //    mr.Result = errCode;
        //    return mr ;
        //}


        /// <summary>
        /// 轴是否运动到位
        /// </summary>
        /// <param name="axies"></param>
        /// <returns></returns>
        public static bool IsArrived(params string[] axies)
        {
            ErrorCode errCode = ErrorCode.Ok;
            foreach (var axisname in axies)
            {
                errCode = AxisControl.GetAxis(axisname).IsArrived(out bool isArrived);
                if(errCode > ErrorCode.Ok)
                {
                    return false;
                }
                else if(!isArrived)
                {
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 轴是否运动到位
        /// </summary>
        /// <param name="axies"></param>
        /// <returns></returns>
        public static bool IsArrived(params IAxis[] axies)
        {
            ErrorCode errCode = ErrorCode.Ok;
            foreach (var axis in axies)
            {
                errCode = axis.IsArrived(out bool isArrived);
                if (errCode > ErrorCode.Ok)
                {
                    return false;
                }
                else if (!isArrived)
                {
                    return false;
                }
            }
            return true;
        }

        public static bool IsHomed(params string[] axies)
        {
            foreach (var axisname in axies)
            {
                if (!IsHomed(AxisControl.GetAxis(axisname)))
                    return false;
            }
            return true;
        }

        public static bool IsHomed(params IAxis[] axies)
        {
            foreach (var axis in axies)
            {
                if (axis.HomeStatus != EHomeStatus.Finished)
                    return false;
            }
            return true;
        }

        public static void On(string ioName)
        {
            IoManager.Instance.WriteOut(ioName, 1);
        }

        public static void Off(string ioName)
        {
            IoManager.Instance.WriteOut(ioName, 0);
        }

        public static bool IsOn(string ioName,bool needRecheck=true)
        {
            int num = 0;
            short val = 0;
            if (needRecheck)
            {
                while (num < 3)
                {
                    val = IoManager.Instance.ReadIn(ioName);
                    if (val == 0)
                    {
                        num++;
                        Thread.Sleep(20);
                    }
                    else
                    {
                        num = 0;
                        break;
                    }
                }
            }
            else
            {
                val = IoManager.Instance.ReadIn(ioName);
            }
            return val == 1;
        }

        public static bool IsOff(string ioName,bool needRecheck = true)
        {
            int num = 0;
            short val = 0;
            if(needRecheck)
            {
                while (num < 3)
                {
                    val = IoManager.Instance.ReadIn(ioName);
                    if (val == 1)
                    {
                        num++;
                        Thread.Sleep(20);
                    }
                    else
                    {
                        num = 0;
                        break;
                    }
                }
            }
            else
            {
                val = IoManager.Instance.ReadIn(ioName);
            }
            return val == 0;
            //return IoManager.Instance.ReadIn(ioName) == 0;
        }

        public static bool IsOutOn(string ioName)
        {
            return IoManager.Instance.ReadOut(ioName) == 1;
        }

        public static bool IsOutOff(string ioName)
        {
            return IoManager.Instance.ReadOut(ioName) == 0;
        }

        public static void Quit()
        {
            CleanOutFlow.Instance.Quit();
            LightManger.Instance.CloseAll();
            Off("启动灯");
            Off("停止灯");
            AxisControl.AllDisable();
            HikCamera.Instance.Deinit();
        }

        public static bool AllZHomed()
        {
            if(AxisControl.NozzleZ1.HomeStatus!= EHomeStatus.Finished) return false;
            if (AxisControl.NozzleZ2.HomeStatus != EHomeStatus.Finished) return false;
            return true;
        }

        public static bool AllZStoped()
        {
            if (!IsStop(AxisControl.NozzleZ1)) return false;
            if (!IsStop(AxisControl.NozzleZ2)) return false;
            return true;
        }

        public static bool AllRStoped()
        {
            if (!IsStop(AxisControl.NozzleR1)) return false;
            if (!IsStop(AxisControl.NozzleR2)) return false;
            return true;
        }

        public static bool AllRHomed()
        {
            if (AxisControl.NozzleR1.HomeStatus != EHomeStatus.Finished) return false;
            if (AxisControl.NozzleR2.HomeStatus != EHomeStatus.Finished) return false;
            return true;
        }

        /// <summary>
        /// 检查有没有轴报警
        /// </summary>
        /// <returns></returns>
        public static bool CheckHasAlarm()
        {
            return false;
        }


        public static double GetCurPosition(string axisName)
        {
            IAxis axis=AxisControl.GetAxis(axisName);
            return GetCurPosition(axis);
        }

        public static double GetCurPosition(IAxis axis)
        {
            double pos = 0.0;
            if (axis == null) return 0;
            if (axis.Config.EnableEncoder == 1)
            {
                if (axis.Config.AxisName.IndexOf("Nozzle") >= 0)
                {
                    axis.GetPrfPosition(out pos);
                }
                else
                {
                    axis.GetEncoderPosition(out pos);
                }

            }
            else
            {
                axis.GetPrfPosition(out pos);
            }
            return pos;
        }

        public static void HomeAndGoStartPos(string axisName)
        {
            Task.Run(() => {
                IAxis axis = AxisControl.GetAxis(axisName);
                axis.Home();
                MessageQueue.Instance.Insert("stat home");
                Thread.Sleep(10);
                Stopwatch timeout = new Stopwatch();
                timeout.Restart();
                while (axis.HomeStatus != EHomeStatus.Finished)
                {
                    MessageQueue.Instance.Insert("homing");
                    Thread.Sleep(10);
                }

                timeout.Stop();
                if (axis.HomeStatus == EHomeStatus.Finished)
                {
                    MessageQueue.Instance.Insert("go to start pos");
                    Thread.Sleep(100);
                    timeout.Restart();
                    ErrorCode errCode = axis.MovePos(SysConfigParam.GetValue<double>($"{axisName}StartPos"), GlobalVar.WholeSpeed);
                    while (!Ops.IsStop(axisName) && timeout.ElapsedMilliseconds < 5000)
                    {
                        Thread.Sleep(10);
                    }
                }
                timeout.Stop();
            });
        }

        /// <summary>
        /// 是否已回原并在起始位
        /// </summary>
        /// <param name="axisName"></param>
        public static bool IsHomedAndNearStartPos(string axisName)
        {
            IAxis axis = AxisControl.GetAxis(axisName);
            if(axis.HomeStatus==EHomeStatus.Finished)
            {
                double curPos = GetCurPosition(axisName);
                double startPos = SysConfigParam.GetValue<double>($"{axisName}StartPos");
                if (Math.Abs(curPos - startPos) <= 0.02)
                {
                    return true;
                }
            }
            return false;
        }

        public static bool Go(string axisName,double targetPos, int speedPercent = 0) {
           return Go(AxisControl.GetAxis(axisName),targetPos, speedPercent);
        }

        public static bool Go(IAxis axis, double targetPos,int speedPercent = 0)
        {
            ErrorCode errCode = ErrorCode.Ok;
            if(speedPercent==0)
                speedPercent=GlobalVar.WholeSpeed;
            errCode = axis.MovePos(targetPos,speedPercent);
            if(errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
            {
                return true;
            }
            else
            {
                Msg.ShowError($"轴{axis.Config.AxisName}运动异常，ret={errCode}");
                return false;
            }
        }

        /// <summary>
        /// 判断轴是否在原点
        /// </summary>
        /// <param name="axisName"></param>
        /// <returns></returns>
        public static bool IsInOrg(string axisName)
        {
            IAxis axis=AxisControl.GetAxis(axisName);
            axis.GetOrgStatus(out bool isInOrg);
            if (isInOrg)
                return true;
            return false;
        }
    }
}