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.SafePosFlow
{
    /// <summary>
    /// 周转模组回安全位
    /// </summary>
    public class TransitModuleSafePosFlow: GoSafePosFlow
    {
        private TransitModuleSafePosFlow() { }
        private static TransitModuleSafePosFlow instance;
        public static TransitModuleSafePosFlow Instance
        {
            get
            {
                if (instance == null)
                    instance = new TransitModuleSafePosFlow();
                return instance;
            }
        }
        /// <summary>
        /// 排料头回安全位
        /// </summary>
        public override void GoSafePostion(EExceptionSafePos ePos= EExceptionSafePos.Socket)
        {
            if (finished)
            {
                taskFinishedEvent.Reset();
                finished = false;
            }
            else
            {
                MessageQueue.Instance.Warn("检测到回安全位还未完成");
                return;
            }
            double targetPosX = 0.0;
            double targetPosY = 0.0;
            step = EGoSafePosFlowStep.到安全位;
            while (true && !finished)
            {
                if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                {
                    Thread.Sleep(10);
                    continue;
                }
                switch (step)
                {
                    case EGoSafePosFlowStep.到安全位:
                        switch (ePos)
                        {
                            case EExceptionSafePos.Socket:
                                targetPosX = SysConfigParam.GetValue<double>("TurnoverTakeX");
                                targetPosY = SysConfigParam.GetValue<double>("PressY");
                                break;
                            case EExceptionSafePos.SocketFrom9ToSixteen:
                                targetPosX = SysConfigParam.GetValue<double>("Socket9_16ExceptionX");
                                //targetPosX = TrayPointManager.GetExceptiontTrayPoint(2).X;
                                targetPosY = SysConfigParam.GetValue<double>("Socket9_16ExceptionY");
                                break;
                            case EExceptionSafePos.TransitNozzle:
                                targetPosX = GlobalVar.TransitNozzleExceptionSafePosX;
                                targetPosY = GlobalVar.TransitNozzleExceptionSafePosY;
                                break;
                            case EExceptionSafePos.TurnoverTray:
                                //targetPosX = GlobalVar.TransitModuleTurnoverTrayExceptionSafePosX;
                                //targetPosY = GlobalVar.TransitModuleTurnoverTrayExceptionSafePosY;
                                targetPosX = SysConfigParam.GetValue<double>("TurnoverTakeX");
                                targetPosY = SysConfigParam.GetValue<double>("PressY");
                                break;
                            default:
                                break;
                        }
                        errCode = AxisControl.TurnoverY.MovePos(targetPosY, GlobalVar.WholeSpeed);
                        if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                        {
                            if (GlobalVar.VirtualAxis)
                            {
                                Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
                            }
                            logInfo = GetClassName() + $"到安全位";
                            MessageQueue.Instance.Insert(logInfo);
                            step = EGoSafePosFlowStep.等待运动到安全位;
                        }
                        else
                        {
                            PromptMessageBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, errCode);
                        }
                        break;
                    case EGoSafePosFlowStep.等待运动到安全位:
                        if (Ops.IsStop("TurnoverX", "TurnoverY") || GlobalVar.VirtualAxis)
                        {
                            logInfo = GetClassName()+ $"已运动到安全位";
                            MessageQueue.Instance.Insert(logInfo);
                            finished = true;
                            taskFinishedEvent.Set();
                        }
                        break;
                    default:
                        break;
                }
                Thread.Sleep(10);
            }
        }

        public string GetClassName()
        {
            return this.GetType().Name + "-";
        }
    }
}