using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using CyberX8_RT.Devices.AXIS.CANOpen;
using CyberX8_RT.Devices.AXIS.Galil;
using CyberX8_RT.Devices.AXIS.GalilLipsel;
using CyberX8_RT.Devices.AXIS.Yaskawa;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.AXIS
{
    public class AxisManager : Singleton<AxisManager>
    {
        /// <summary>
        /// 模块电机字典
        /// </summary>
        private Dictionary<string, List<JetAxisBase>> _moduleAxisDictionary = new Dictionary<string, List<JetAxisBase>>();
        /// <summary>
        /// 获取Axis对象
        /// </summary>
        /// <param name="type"></param>
        /// <param name="module"></param>
        /// <param name="name"></param>
        /// <returns></returns>
        public JetAxisBase GetAxisInstance(string type,string module,string name)
        {
            switch(type)
            {
                case "Copley":
                    return new CanOpenAxis(module, name);
                case "Yaskawa":
                    return new YaskawaAxis(module, name);
                case "Maxon":
                    return new MaxonAxis(module, name);
                case "Galil":
                    return new GalilAxis(module, name);
                case "GalilLipsel":
                    return new GalilLipselAxis(module, name);
                default:
                    return null;
            }
        }
        /// <summary>
        /// 将Axis增加至模块字典
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="axis"></param>
        public void AddModuleAxis(string moduleName, JetAxisBase axis)
        {
            if (_moduleAxisDictionary.ContainsKey(moduleName))
            {
                List<JetAxisBase> lst=_moduleAxisDictionary[moduleName];
                if(lst.FindIndex(O=>O.Name==axis.Name&&O.Module==moduleName)==-1)
                {
                    lst.Add(axis);
                }
            }
            else
            {
                List<JetAxisBase> lst = new List<JetAxisBase>();
                lst.Add(axis);
                _moduleAxisDictionary[moduleName] = lst;
            }
        }
        /// <summary>
        /// 获取模块电机集合
        /// </summary>
        /// <returns></returns>
        public List<JetAxisBase> GetModuleAxisList(string moduleName)
        {
            return _moduleAxisDictionary.ContainsKey(moduleName) ? _moduleAxisDictionary[moduleName]:null;
        }

        /// <summary>
        /// 检验模块电机是否均上电
        /// </summary>
        /// <returns></returns>
        public bool CheckModuleAxisSwitchOn(string module,string name)
        {
            List<JetAxisBase> axises = AxisManager.Instance.GetModuleAxisList(module);
            if (axises != null)
            {
                foreach (JetAxisBase axis in axises)
                {
                    if (!axis.IsSwitchOn)
                    {
                        LOG.WriteLog(eEvent.ERROR_PUF_NOT_SWITCHON, $"{module}", $"{axis.Name} is switch off");
                        return false;
                    }
                }
            }
            return true;
        }
    }
}