using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using athosRT.Devices.FLP;
using athosRT.FSM;
using athosRT.tool;
using MECF.Framework.Common.Equipment;

namespace athosRT.Modules.FLP
{
    public class FlipperHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private FlipperBase _flipper;
        private ModuleName modulename;
        private int _WaitTimeout;
        private int _ClampTimeout;
        private int _TurnTimeout;

        public FlipperHomeRoutine(ModuleName module, FlipperBase flipper) : base(module)
        {
            modulename = module;
            _flipper = flipper;
            _WaitTimeout = 60*1000;
            _ClampTimeout = 60 * 1000;
            _TurnTimeout = 60 * 1000;
        }

        public RState Start(params object[] objs)
        {
            if (_flipper == null)
            {
                LogObject.Error(Module.ToString(),"Flipper is null. Cannot Start");
                return RState.Failed;
            }
            return Runner.Start(modulename, "Flipper Home Start");
        }

        public RState Monitor()
        {
            Runner
                .Run((int)FlipperHomeStep.WaitForDevice, fReset, fCheckMotionOver, _WaitTimeout)
                .Delay((int)FlipperHomeStep.DeviceWait1, 1000)
                //.Run((int)FlipperHomeStep.ClampOpen, fClampOpen, fIsClampOpen, _ClampTimeout)
                .Run((int)FlipperHomeStep.ClampClose, fClampClose, fIsClampClose, _ClampTimeout)
                .Delay((int)FlipperHomeStep.DeviceWait2, 1000)
                .End((int)FlipperHomeStep.TurnToHome, fTurnToHome, fCheckMotionOver, _TurnTimeout);
            return Runner.Status;
        }

        private bool fIsClampOpen()
        {
            if (_flipper.IsBusy && _flipper.IsClampOpen)
            {
                //忙状态
                //_flipper.ShowAction();
                LogObject.Info(modulename.ToString(), $"busy状态");

                return false;
            }
            else
            {
                //空闲状态
                LogObject.Info(modulename.ToString(), "进入空闲状态");
                return true;
            }
           
        }

        private bool fIsClampClose()
        {
            if (_flipper.IsBusy && _flipper.IsClampClose)
            {
                //忙状态
                //_flipper.ShowAction();
                LogObject.Info(modulename.ToString(), $"busy状态");

                return false;
            }
            else
            {
                //空闲状态
                LogObject.Info(modulename.ToString(), "进入空闲状态");
                return true;
            }

        }

        private bool fReset()
        {
            _flipper.Reset();
            return true;
        }

        private bool fClampOpen()
        {
            //有错误 驱动层已打出原因log
            if (_flipper.Clamp(false))
            {
                LogObject.Info(modulename.ToString(), "开始 Clamp Open.");
                return true;
            }
            else
            {
                LogObject.Error(modulename.ToString(), $"HOME Clamp failed.{_flipper.State}");
                return false;
            }
        }

        private bool fClampClose()
        {
            //有错误 驱动层已打出原因log
            if (_flipper.Clamp(true))
            {
                LogObject.Info(modulename.ToString(), "开始HOME Clamp close.");
                return true;
            }
            else
            {
                LogObject.Error(modulename.ToString(), $"HOME Clamp failed.{_flipper.State}");
                return false;
            }
        }

        private bool fTurnToHome()
        {
            //关闭
            //有错误 驱动层已打出log
            if (_flipper.Home())
            {
                LogObject.Info(modulename.ToString(),"开始HOME Turn");
                return true;
            }
            else
            {
                LogObject.Error(modulename.ToString(), $"HOME Turn failed.{_flipper.State}");
                return false;
            }
        }

        private bool fCheckMotionOver()
        {
            if (_flipper.IsBusy || _flipper.State != FlipperState.Idle)
            {
                //忙状态
                //_flipper.ShowAction();
                LogObject.Info(modulename.ToString(), $"busy状态");

                return false;
            }
            else
            {
                //空闲状态
                LogObject.Info(modulename.ToString(),"进入空闲状态");
                return true;
            }
        }

        public void Abort()
        {

        }

        enum FlipperHomeStep
        {
            WaitForDevice,
            DeviceWait1,
            TurnToHome,
            DeviceWait2,
            ClampOpen,
            ClampClose,
        }
    }
}