using Aitex.Core.UI.MVVM;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Device.Safety;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using MECF.Framework.Common.Utilities;
using OpenSEMI.ClientBase.Command;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Input;
using System.Windows.Threading;

namespace CyberX8_MainPages.ViewModels
{
    public class SystemSafetyViewModel : BindableBase
    {
        #region 常量
        private const string SAFETY_DATA = "SafetyData";
        private const string IS_SWITCH_ON = "IsSwitchOn";
        private const string IS_INITIALIZED = "IsInitialized";
        private const string IS_MOVING = "IsMoving";
        #endregion

        #region 内部变量
        private SafetyData _commonSafetyData;

        #region Loader
        private bool _isLoaderRotationOn;
        private bool _isLoaderASwingOn;
        private bool _isLoaderATiltOn;
        private bool _isLoaderBSwingOn;
        private bool _isLoaderBTiltOn;
        private bool _isLoaderMoving;
        #endregion

        #region PUFs
        private bool _isPuf1VerticalOn;
        private bool _isPuf1RotationOn;
        private bool _isPuf1FlipOn;
        private bool _isPuf2VerticalOn;
        private bool _isPuf2RotationOn;
        private bool _isPuf2FlipOn;
        private bool _isPufsMoving;
        #endregion

        #region SRD
        private bool _isSrd1ArmOn;
        private bool _isSrd1RotationOn;
        private bool _isSrd2ArmOn;
        private bool _isSrd2RotationOn;
        private bool _isSRDsMoving;
        #endregion

        #region Transporters
        private bool _isLoaderGantryOn;
        private bool _isLoaderElevatorOn;
        private bool _isLoaderTransMoving;
        private bool _isProcessGantryOn;
        private bool _isProcessElevatorOn;
        private bool _isProcessTransMoving;
        #endregion





        #endregion

        #region 属性
        public SafetyData CommonSafetyData { get { return _commonSafetyData; } set { SetProperty(ref _commonSafetyData, value); } }

        #region Loader
        public bool IsLoaderRotationOn { get { return _isLoaderRotationOn; } set { SetProperty(ref _isLoaderRotationOn, value); } }
        public bool IsLoaderASwingOn { get { return _isLoaderASwingOn; } set { SetProperty(ref _isLoaderASwingOn, value); } }
        public bool IsLoaderATiltOn { get { return _isLoaderATiltOn; } set { SetProperty(ref _isLoaderATiltOn, value); } }
        public bool IsLoaderBSwingOn { get { return _isLoaderBSwingOn; } set { SetProperty(ref _isLoaderBSwingOn, value); } }
        public bool IsLoaderBTiltOn { get { return _isLoaderBTiltOn; } set { SetProperty(ref _isLoaderBTiltOn, value); } }
        /// <summary>
        /// Is Loader Moving
        /// </summary>
        public bool IsLoaderMoving { get { return _isLoaderMoving; } set { SetProperty(ref _isLoaderMoving, value); } }
        #endregion

        #region PUFs
        public bool IsPuf1VerticalOn { get { return _isPuf1VerticalOn; } set { SetProperty(ref _isPuf1VerticalOn, value); } }
        public bool IsPuf1RotationOn { get { return _isPuf1RotationOn; } set { SetProperty(ref _isPuf1RotationOn, value); } }
        public bool IsPuf1FlipOn { get { return _isPuf1FlipOn; } set { SetProperty(ref _isPuf1FlipOn, value); } }
        public bool IsPuf2VerticalOn { get { return _isPuf2VerticalOn; } set { SetProperty(ref _isPuf2VerticalOn, value); } }
        public bool IsPuf2RotationOn { get { return _isPuf2RotationOn; } set { SetProperty(ref _isPuf2RotationOn, value); } }
        public bool IsPuf2FlipOn { get { return _isPuf2FlipOn; } set { SetProperty(ref _isPuf2FlipOn, value); } }
        /// <summary>
        /// Is Pufs Moving
        /// </summary>
        public bool IsPufsMoving { get { return _isPufsMoving; } set { SetProperty(ref _isPufsMoving, value); } }
        #endregion

        #region SRD
        public bool IsSrd1ArmOn { get { return _isSrd1ArmOn; } set { SetProperty(ref _isSrd1ArmOn, value); } }
        public bool IsSrd1RotationOn { get { return _isSrd1RotationOn; } set { SetProperty(ref _isSrd1RotationOn, value);}}
        public bool IsSrd2ArmOn { get { return _isSrd2ArmOn; } set { SetProperty(ref _isSrd2ArmOn, value); } }
        public bool IsSrd2RotationOn { get { return _isSrd2RotationOn; } set { SetProperty(ref _isSrd2RotationOn, value); } }
        /// <summary>
        /// Is SRDs Moving
        /// </summary>
        public bool IsSRDsMoving { get { return _isSRDsMoving; } set { SetProperty(ref _isSRDsMoving, value); } }
        #endregion

        #region Transporters
        public bool IsLoaderGantryOn { get { return _isLoaderGantryOn; } set { SetProperty(ref _isLoaderGantryOn, value); } }
        public bool IsLoaderElevatorOn { get { return _isLoaderElevatorOn; } set { SetProperty(ref _isLoaderElevatorOn, value); } }
        /// <summary>
        /// Is LoaderTransporters Moving
        /// </summary>
        public bool IsLoaderTransMoving { get { return _isLoaderTransMoving; } set { SetProperty(ref _isLoaderTransMoving, value); }}
        public bool IsProcessGantryOn { get { return _isProcessGantryOn; } set { SetProperty(ref _isProcessGantryOn, value); } }
        public bool IsProcessElevatorOn { get { return _isProcessElevatorOn; } set { SetProperty(ref _isProcessElevatorOn, value); } }
        /// <summary>
        /// Is ProcessTransporters Moving
        /// </summary>
        public bool IsProcessTransMoving { get { return _isProcessTransMoving; } set { SetProperty(ref _isProcessTransMoving, value); } }
        #endregion

        #endregion

        /// <summary>
        /// 定时器
        /// </summary>
        DispatcherTimer _timer;

        /// <summary>
        /// 查询后台数据集合
        /// </summary>
        private List<string> _rtDataKeys = new List<string>();
        /// <summary>
        /// rt查询key数值字典
        /// </summary>
        private Dictionary<string, object> _rtDataValueDic = new Dictionary<string, object>();

        #region 指令
        public ICommand PauseCommand { get; private set; }
        public ICommand ResumeCommand { get; private set; }
        public ICommand ResetCommand { get; private set; }
        public ICommand LockLoaderDoorsCommand { get; private set; }
        public ICommand UnlockLoaderDoorsCommand { get; private set; }
        public ICommand LockBufferDoorsCommand { get; private set; }
        public ICommand UnlockBufferDoorsCommand { get; private set; }
        public ICommand LockProcessDoorsCommand { get; private set; }
        public ICommand UnlockProcessDoorsCommand { get; private set; }
        public ICommand AllOnCommand { get; private set; }

        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public SystemSafetyViewModel()
        {
            PauseCommand = new DelegateCommand<Object>(PauseAction);
            ResumeCommand = new DelegateCommand<Object>(ResumeAction);
            ResetCommand = new DelegateCommand<Object>(ResetAction);
            LockLoaderDoorsCommand = new DelegateCommand<Object>(LockLoaderDoorsAction);
            UnlockLoaderDoorsCommand = new DelegateCommand<Object>(UnlockLoaderDoorsAction);
            LockBufferDoorsCommand = new DelegateCommand<Object>(LockBufferDoorsAction);
            UnlockBufferDoorsCommand = new DelegateCommand<Object>(UnlockBufferDoorsAction);
            LockProcessDoorsCommand = new DelegateCommand<Object>(LockProcessDoorsAction);
            UnlockProcessDoorsCommand = new DelegateCommand<Object>(UnlockProcessDoorsAction);
            AllOnCommand = new DelegateCommand<Object>(AllOnAction);
        }

        /// <summary>
        /// 初始化Keys
        /// </summary>
        private void InitialKeys()
        {
            _rtDataKeys.Clear();
            _rtDataKeys.Add($"Safety.{SAFETY_DATA}");
            _rtDataKeys.Add($"Safety.{IS_INITIALIZED}");
            
            _rtDataKeys.Add($"Loader1.Rotation.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Loader1.ShuttleA.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Loader1.TiltA.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Loader1.ShuttleB.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Loader1.TiltB.{IS_SWITCH_ON}");
            
            _rtDataKeys.Add($"SRD1.Arm.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"SRD1.Rotation.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"SRD2.Arm.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"SRD2.Rotation.{IS_SWITCH_ON}");
            
            _rtDataKeys.Add($"PUF1.Vertical.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"PUF1.Rotation.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"PUF1.Flip.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"PUF2.Vertical.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"PUF2.Rotation.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"PUF2.Flip.{IS_SWITCH_ON}");

            _rtDataKeys.Add($"Transporter2.Gantry.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Transporter2.Elevator.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Transporter1.Gantry.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"Transporter1.Elevator.{IS_SWITCH_ON}");
            //Is Moving
            _rtDataKeys.Add($"Loader1.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"Loader1.ShuttleA.{IS_MOVING}");
            _rtDataKeys.Add($"Loader1.TiltA.{IS_MOVING}");
            _rtDataKeys.Add($"Loader1.ShuttleB.{IS_MOVING}");
            _rtDataKeys.Add($"Loader1.TiltB.{IS_MOVING}");

            _rtDataKeys.Add($"SRD1.Arm.{IS_MOVING}");
            _rtDataKeys.Add($"SRD1.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"SRD2.Arm.{IS_MOVING}");
            _rtDataKeys.Add($"SRD2.Rotation.{IS_MOVING}");

            _rtDataKeys.Add($"PUF1.Vertical.{IS_MOVING}");
            _rtDataKeys.Add($"PUF1.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"PUF1.Flip.{IS_MOVING}");
            _rtDataKeys.Add($"PUF2.Vertical.{IS_MOVING}");
            _rtDataKeys.Add($"PUF2.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"PUF2.Flip.{IS_MOVING}");

            _rtDataKeys.Add($"Transporter2.Gantry.{IS_MOVING}");
            _rtDataKeys.Add($"Transporter2.Elevator.{IS_MOVING}");
            _rtDataKeys.Add($"Transporter1.Gantry.{IS_MOVING}");
            _rtDataKeys.Add($"Transporter1.Elevator.{IS_MOVING}");

            _rtDataKeys.Add($"SRD1.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"SRD1.Arm.{IS_MOVING}");
            _rtDataKeys.Add($"SRD2.Rotation.{IS_MOVING}");
            _rtDataKeys.Add($"SRD2.Arm.{IS_MOVING}");

        }
        
        /// <summary>
        /// 加载数据
        /// </summary>
        public void LoadData(string systemName)
        {
            InitialKeys();
            if (_timer == null)
            {
                _timer = new DispatcherTimer();
                _timer.Interval = TimeSpan.FromMilliseconds(200);
                _timer.Tick += Timer_Tick; ;
            }
            _timer.Start();
        }

        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        /// <exception cref="NotImplementedException"></exception>
        private void Timer_Tick(object sender, EventArgs e)
        {
            if (_rtDataKeys.Count != 0)
            {
                _rtDataValueDic = QueryDataClient.Instance.Service.PollData(_rtDataKeys);
                if (_rtDataValueDic != null)
                {

                    CommonSafetyData = CommonFunction.GetValue<SafetyData>(_rtDataValueDic, $"Safety.{SAFETY_DATA}");

                    IsLoaderRotationOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.Rotation.{IS_SWITCH_ON}");
                    IsLoaderASwingOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.ShuttleA.{IS_SWITCH_ON}");
                    IsLoaderATiltOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.TiltA.{IS_SWITCH_ON}");
                    IsLoaderBSwingOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.ShuttleB.{IS_SWITCH_ON}");
                    IsLoaderBTiltOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.TiltB.{IS_SWITCH_ON}");

                    IsSrd1ArmOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD1.Arm.{IS_SWITCH_ON}");
                    IsSrd1RotationOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD1.Rotation.{IS_SWITCH_ON}");
                    IsSrd2ArmOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD2.Arm.{IS_SWITCH_ON}");
                    IsSrd2RotationOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD2.Rotation.{IS_SWITCH_ON}");

                    IsPuf1VerticalOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Vertical.{IS_SWITCH_ON}");
                    IsPuf1RotationOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Rotation.{IS_SWITCH_ON}");
                    IsPuf1FlipOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Flip.{IS_SWITCH_ON}");
                    IsPuf2VerticalOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Vertical.{IS_SWITCH_ON}");
                    IsPuf2RotationOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Rotation.{IS_SWITCH_ON}");
                    IsPuf2FlipOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Flip.{IS_SWITCH_ON}");

                    IsLoaderGantryOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter2.Gantry.{IS_SWITCH_ON}");
                    IsLoaderElevatorOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter2.Elevator.{IS_SWITCH_ON}");
                    IsProcessGantryOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter1.Gantry.{IS_SWITCH_ON}");
                    IsProcessElevatorOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter1.Elevator.{IS_SWITCH_ON}");

                    //判断电机Moving状态
                    JudgeMoving();
                }
            }
        }

        /// <summary>
        /// 隐藏
        /// </summary>
        public void Hide()
        {
            if (_timer != null)
            {
                _timer.Stop();
            }
        }


        #region 指令Action
        /// <summary>
        /// Pause
        /// </summary>
        /// <param name="param"></param>
        private void PauseAction(object param)
        {
            throw new NotImplementedException();
        }
        /// <summary>
        /// Resume
        /// </summary>
        /// <param name="param"></param>
        private void ResumeAction(object param)
        {
            throw new NotImplementedException();
        }
        /// <summary>
        /// AllOn
        /// </summary>
        /// <param name="param"></param>
        private void AllOnAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.AllOnOperation");
        }
        /// <summary>
        /// Reset
        /// </summary>
        /// <param name="param"></param>
        private void ResetAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.ResetOperation");
        }
        /// <summary>
        /// LockLoaderDoors
        /// </summary>
        /// <param name="param"></param>
        private void LockLoaderDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.LockLoaderDoors");
        }
        /// <summary>
        /// UnlockLoaderDoors
        /// </summary>
        /// <param name="param"></param>
        private void UnlockLoaderDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.UnlockLoaderDoors");
        }
        /// <summary>
        /// LockBufferDoors
        /// </summary>
        /// <param name="param"></param>
        private void LockBufferDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.LockBufferDoors");
        }
        /// <summary>
        /// UnlockBufferDoors
        /// </summary>
        /// <param name="param"></param>
        private void UnlockBufferDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.UnlockBufferDoors");
        }
        /// <summary>
        /// LockProcessDoors
        /// </summary>
        /// <param name="param"></param>
        private void LockProcessDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.LockProcessDoors");
        }
        /// <summary>
        /// UnlockProcessDoors
        /// </summary>
        /// <param name="param"></param>
        private void UnlockProcessDoorsAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation("Safety.UnlockProcessDoors");
        }
        /// <summary>
        /// 判断各个电机Moving状态
        /// </summary>
        /// <param name="param"></param>
        private void JudgeMoving()
        {
            //检测LoaderTransporter是否运动
            bool gantryMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter2.Gantry.{IS_MOVING}");
            bool elevatorMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter2.Elevator.{IS_MOVING}");
            if (gantryMoving || elevatorMoving)
            {
                IsLoaderTransMoving = true;
            }
            else
            {
                IsLoaderTransMoving = false;
            }
            //检测ProcessTransporter是否运动
            gantryMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter1.Gantry.{IS_MOVING}");
            elevatorMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Transporter1.Elevator.{IS_MOVING}");
            if (gantryMoving || elevatorMoving)
            {
                IsProcessTransMoving = true;
            }
            else
            {
                IsProcessTransMoving = false;
            }
            //检测Pufs是否运动
            bool puf1VerticalMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Vertical.{IS_MOVING}");
            bool puf1RotationMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Rotation.{IS_MOVING}");
            bool puf1FlipMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF1.Flip.{IS_MOVING}");
            bool puf2VerticalMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Vertical.{IS_MOVING}");
            bool puf2RotationMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Rotation.{IS_MOVING}");
            bool puf2FlipMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"PUF2.Flip.{IS_MOVING}");
            if (puf1VerticalMoving || puf1RotationMoving || puf1FlipMoving || puf2VerticalMoving || puf2RotationMoving || puf2FlipMoving)
            {
                IsPufsMoving = true;
            }
            else
            {
                IsPufsMoving = false;
            }
            //检测Loader是否运动
            bool loaderRotationMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.Rotation.{IS_MOVING}");
            bool loaderSwingAMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.ShuttleA.{IS_MOVING}");
            bool loaderSwingBMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.ShuttleB.{IS_MOVING}");
            bool loaderTiltAMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.TiltA.{IS_MOVING}");
            bool loaderTiltBMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"Loader1.TiltB.{IS_MOVING}");
            if (loaderRotationMoving || loaderSwingAMoving || loaderSwingBMoving || loaderTiltAMoving || loaderTiltBMoving)
            {
                IsLoaderMoving = true;
            }
            else
            {
                IsLoaderMoving = false;
            }
            //检测SRDs是否运动
            bool srd1RotationMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD1.Rotation.{IS_MOVING}");
            bool srd1ArmMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD1.Arm.{IS_MOVING}");
            bool srd2RotationMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD2.Rotation.{IS_MOVING}");
            bool srd2ArmMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"SRD2.Arm.{IS_MOVING}");
            if (srd1RotationMoving || srd1ArmMoving || srd2RotationMoving || srd2ArmMoving)
            {
                IsSRDsMoving = true;
            }
            else
            {
                IsSRDsMoving = false;
            }
        }

        #endregion
    }

}