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

namespace Rs.MotionPlat.Flow
{
    public class SafeControl
    {
        private SafeControl() { }

        private static SafeControl instance;
        public static SafeControl Instance
        {
            get
            {
                if (instance == null)
                {
                    instance = new SafeControl();
                }
                return instance;
            }
        }
        public void Init()
        {
            if (AxisControl.LoadX != null)
                AxisControl.LoadX.FunSafeCheck += LoadX_FunSafeCheck;
            if (AxisControl.LoadY != null)
                AxisControl.LoadY.FunSafeCheck += LoadY_FunSafeCheck;
            if (AxisControl.TurnoverY != null)
                AxisControl.TurnoverY.FunSafeCheck += TurnoverY_FunSafeCheck;
        }

        private bool TurnoverY_FunSafeCheck()
        {
            if (SysConfigParam.GetValue<bool>("CheckSafeEnable"))
            {
                AxisControl.PressZ.GetOrgStatus(out bool bOrg);
                if (!bOrg)
                    return false;
                AxisControl.TurnoverZ.GetOrgStatus(out bOrg);
                if (!bOrg)
                    return false;
            }
            return true;
        }

        private bool LoadY_FunSafeCheck()
        {
            if(SysConfigParam.GetValue<bool>("CheckSafeEnable"))
            {
                bool bOnOrg = false;
                if (!Ops.IsOn("上下气缸原位"))
                {
                    MessageQueue.Instance.Warn("上下气缸原位 off");
                    return false;
                }
                for (int i = 1; i < 9; i++)
                {
                    AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
                    if (!bOnOrg)
                    {
                        MessageQueue.Instance.Warn($"NozzleZ{i} is hasn't org signal");
                        return false;
                    }
                        
                }
            }
            return true;
        }

        private bool LoadX_FunSafeCheck()
        {
            if (SysConfigParam.GetValue<bool>("CheckSafeEnable"))
            {
                bool bOnOrg = false;
                if (!Ops.IsOn("上下气缸原位"))
                {
                    MessageQueue.Instance.Warn("上下气缸原位 off");
                    return false;
                }
                for (int i = 1; i < 9; i ++)
                { 
                    AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
                    if (!bOnOrg)
                    {
                        MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
                        return false;
                    }
                        
                }
            }
            return true;
        }

        /// <summary>
        /// 检测排料Y轴是否可以到周转盘
        /// </summary>
        /// <returns></returns>
        private bool CanGoTurnoverTray()
        {
            //获取周转Y轴的位置，当排料Y轴去周转盘的时候，检测是否安全
            double turnoverYPos = Ops.GetCurPosition("TurnoverY");
            if (turnoverYPos - SysConfigParam.GetValue<double>("PressY") < -1)
                return false;
            return true;
        }
        public bool XYCanMove()
        {
            if (!CanGoTurnoverTray())
                return false;
            return true;
        }
    }
}