using Aitex.Common.Util;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.Util;
using athosSimulator.Robot;
using athosSimulator.IO;
using athosSimulator.LoadPort;
using athosSimulator.PreAligner;
using IOs = Aitex.Core.RT.IOCore.IO;

namespace athosSimulator
{
    public class SystemSimulator : Singleton<SystemSimulator>
    {
       
        private RorzeRobot751Simulator _robotSimulator;
        private Hirata _lp1Simulator;
        private Hirata _lp2Simulator;
        private Hirata _lp3Simulator;
        private PeriodicJob _task;

        public SimulatorPlc Plc { get; set; }
        public RorzeRobot751Simulator RobotSimulator { get { return _robotSimulator; } }
        public Hirata LP1Simulator { get { return _lp1Simulator; } }
        public Hirata LP2Simulator { get { return _lp2Simulator; } }
        public Hirata LP3Simulator { get { return _lp3Simulator; } }

        public SystemSimulator()
        {
            //Robot 
            _robotSimulator = new RorzeRobot751Simulator(10110);
            _robotSimulator.Enable();//打开port
            //LP1
            _lp1Simulator = new Hirata("COM12");
            _lp1Simulator.Enable();//打开port
            //LP2
            _lp2Simulator = new Hirata("COM14");
            _lp2Simulator.Enable();//打开port
            //_lp3Simulator = new Hirata("COM16");
            //_lp3Simulator.Enable();//打开port

            //PA
            //Rorze _rorzePASimulator1 = new Rorze(10118);
            //_rorzePASimulator1.Enable();//打开port
            //Rorze _rorzePASimulator2 = new Rorze(10119);
            //_rorzePASimulator2.Enable();//打开port

            //IO
            Plc = new SimulatorPlc(16731, "Simulator->IO", PathManager.GetCfgDir() + "_ioDefineCardNew.xml", "IO");      
        }

        public void Initialize()
        {
            SetDefaultValue();
            Singleton<DataManager>.Instance.Initialize(false);
            _task = new PeriodicJob(50, onMonitor, "Simulator", true);
        }

        private bool onMonitor()
        {
            //控制Flipper
            //控制Flipper TurnOver
            if (IOs.DO["IO.DO_FlipperTurnOverMotorModeSW"].Value)
            {
                if (IOs.DO["IO.DO_FlipperTurnOverStartStop/HOME"].Value &&
                    (IOs.DO["IO.DO_FlipperTurnOverSEL0/JOGP"].Value ||
                    IOs.DO["IO.DO_FlipperTurnOverSEL1/JOGN"].Value ||
                    IOs.DO["IO.DO_FlipperTurnOverSEL2/JOG0"].Value))
                {
                    IOs.DI["IO.DI_FlipperTurnOverMotorPosCompleted"].Value = true;
                }
            }
            //控制Flipper Clamp
            if (IOs.DO["IO.DO_FlipperClampMotorModeSW"].Value)
            {
                if (IOs.DO["IO.DO_FlipperClampSTART-STOP/HOME"].Value &&
                    (IOs.DO["IO.DO_FlipperClampSEL0/JOGP"].Value ||
                    IOs.DO["IO.DO_FlipperClampSEL1/JOGN"].Value ||
                    IOs.DO["IO.DO_FlipperClampSEL2/JOG0"].Value))
                {
                    IOs.DI["IO.DI_FlipperClampMotorPosCompleted"].Value = true;
                }
            }
            //控制Robot
            //控制LP
            return true;
        }
        /// <summary>
        /// 设置初始值
        /// </summary>
        private void SetDefaultValue()
        {
            IOs.DI["IO.DI_LightCurtainSensor"].Value = true;
            IOs.DI["IO.DI_FlipperTurnOverHorizontalSensor"].Value = true;//运动中为false 正反面时为true
            IOs.DI["IO.DI_FlipperTurnOverOriginSensor"].Value = true;//
            IOs.DI["IO.DI_FlipperTurnOverMotorPosCompleted"].Value = false;
            IOs.DI["IO.DI_FlipperTurnOverMotorAlarm"].Value = false;
            IOs.DI["IO.DI_FlipperEnableToRobot"].Value = true;
            IOs.DI["IO.DI_FlipperClampClosedSensor"].Value = false;//是否闭合
            IOs.DI["IO.DI_FlipperClampOpenedSensor"].Value = true;
            IOs.DI["IO.DI_FlipperClampMotorPosCompleted"].Value = false;//动作是否完成
            IOs.DI["IO.DI_FFUSIGNAL"].Value = true;
            IOs.DI["IO.DI_CDAPressureSW"].Value = true;
            IOs.DI["IO.DI_VACPressureSW"].Value = true;
            IOs.DI["IO.DI_IONCDAPressureSW"].Value = false;
            IOs.DI["IO.DI_IONSIGNAL"].Value = false;
            IOs.DI["IO.DI_SideDoorOpened"].Value = false;//侧门是否打开 一般情况不可以打开
            IOs.DI["IO.DI_OuterSideDoorClosed"].Value = false;//外侧们是否打开
            IOs.DI["IO.DI_RunMode"].Value = true;
            IOs.DI["IO.DI_EFEMPowerON"].Value = true;
            IOs.DI["IO.DI_PreAlignerEnableToRobot"].Value = true;
            IOs.DI["IO.DI_RobotEMSToEFEM"].Value = true;
            IOs.DI["IO.DI_RBNotExtendToPMA"].Value = true;
            IOs.DI["IO.DI_RBNotExtendToPMB"].Value = true;
            IOs.DI["IO.DI_RBNotExtendToLP1"].Value = true;
            IOs.DI["IO.DI_RBNotExtendToLP2"].Value = true;
            IOs.DI["IO.DI_RBNotExtendToLP2"].Value = true;
            IOs.DI["IO.DI_RBNotExtendPreAligner"].Value = true;
            IOs.DI["IO.DI_RBNotExtendFlipper"].Value = true;
            IOs.DI["IO.DI_LP1OperationStatus"].Value = true;
            IOs.DI["IO.DI_LP2OperationStatus"].Value = true;
            IOs.DI["IO.DI_LP1Ready"].Value = true;

        }
        /// <summary>
        /// 设置DI值
        /// </summary>
        private void SetDIValue(string ioName, bool value)
        {
            IOs.DI[$"IO.{ioName}"].Value = value;
        }
        /// <summary>
        /// 设置DO值
        /// </summary>
        private void SetDOValue(string ioName, bool value)
        {
            IOs.DO[$"IO.{ioName}"].Value = value;
        }
    }
}