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

namespace athosSimulator
{
    public class SystemSimulator : Singleton<SystemSimulator>
    {
        public SimulatorPlc Plc { get; set; }

        private PeriodicJob _task;

        public SystemSimulator()
        {
            //Robot 
            //RorzeRobot751Simulator robotSimulator = new RorzeRobot751Simulator();
            //LP
            Hirata _hirataSimulator1 = new Hirata("COM11");
            _hirataSimulator1.Enable();//打开端口
            Hirata _hirataSimulator2 = new Hirata("COM1");
            _hirataSimulator2.Enable();
            Hirata _hirataSimulator3 = new Hirata("COM4");
            _hirataSimulator3.Enable();

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

            //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;
        }


        //设置初始值
        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;

        }

        
    }
}