using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.tool;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;

namespace athosRT.Devices.PA
{

    public class RorzePreAligner : PreAligner
    {

        #region 私有变量
        private string _address;//地址
        private string _port;//端口
        private readonly AsyncSocket _socket;//通讯socket
        private string _newLine = "\r";
        private object _locker = new object();
        private bool _isAsciiMode;
        private LinkedList<string> _lstAsciiMsgs = new LinkedList<string>();
        private Regex catch_parameter = new Regex(@"(?<=\:)(.*)");//获取:后续参数
        private bool _errorflag;
        private PeriodicJob _thread;
        private Dictionary<string, string> cancelcode2msg = new Dictionary<string, string>()
        {
            {"0001","Command not designated" },
            {"0002","The designated target motion not equipped" },
            {"0003","Too many/too few parameters (number of elements)" },
            {"0004","Command not equipped" },
            {"0005","Too many/too few parameters" },
            {"0006","Abnormal range of the parameter" },
            {"0007","Abnormal mode" },
            {"0008","Abnormal data" },
            {"0009","System in preparation" },
            {"000A","Origin search not completed" },
            {"000B","Moving/Processing" },
            {"000C","No motion" },
            {"000D","Abnormal flash memory" },
            {"000E","Insufficient memory" },
            {"000F","Error-occurred state" },
            {"0010","Origin search is completed but the motion cannot be started due to interlock." },
            {"0011","The emergency stop signal is turned on." },
            {"0012","The temporarily stop signal is turned on." },
            {"0013","Abnormal interlock signal" },
            {"0014","Drive power is turned off." },
            {"0015","Not excited" },
            {"0016","Abnormal current position" },
            {"0017","Abnormal target position" },
            {"0018","Command processing" },
            {"0019","Invalid substrate state" },
            {"0020","Substrate yet to be aligned" },
            {"FFFF","Fatal error is occurring.need to cycle the power." },
        };

        private Dictionary<string, string> errorcode2msg = new Dictionary<string, string>()
        {
            {"01","Motor stall" },
            {"02","Limit" },
            {"03","Limit" },
            {"04","Command error" },
            {"05","Communication error" },
            {"06","Abnormal sensor" },
            {"07","Driver EMS error" },
            {"08","Substrate dropped error" },
            {"0E","Abnormal driver" },
            {"0F","Abnormal drive power" },
            {"10","Abnormal control power" },
            {"13","Abnormal temperature of driver" },
            {"14","Driver FPGA error" },
            {"15","Motor wire broken" },
            {"16","Motor over load" },
            {"17","Motor motion start error" },
            {"18","Abnormal alignment sensor" },
            {"19","Abnormal exhaust FAN state" },
            {"1A","Alignment sensor detects obstacle" },
            {"40","Internal error (abnormal device driver)" },
            {"41","Internal error (abnormal driver control)" },
            {"42","Internal error (task start failed)" },
            {"45","Reading setting data failed" },
            {"7E","CPU reset error" },
            {"7F","Controller internal memory error" },
            {"80","Intelock signal is abnormal" },
            {"83","Origin search failed" },
            {"84","Chucking error" },
            {"90","Notch detection error" },
            {"91","Alignment sensor detects obstacle" },
            {"92","Retry over (alignment failed)" },
            {"93","Shifting motion retry over" },
            {"96","Sub o-flat location error" },
            {"97","Substrate center deviation error" },
        };

        private PAStatus _status;
        #endregion

        #region 暴露变量
        public override PAStatus Status => _status;

        public override bool IsConnected => _socket.IsConnected;

        public override bool Busy => _status != PAStatus.Idle && _status != PAStatus.Init ;

        public override bool Moving => base.Moving;

        public override bool Error => _errorflag;

        //public override bool WaferOnAligner => base.WaferOnAligner;

        public PAStatus AlignStatus => _status;
        #endregion

        /// <summary>
        /// PA的关键点
        /// 通信方式：网口
        /// 主要功能：1、旋转对齐 2、初始化位置HOME 3、除错 4、重置 5、中断
        /// </summary>
        /// <param name="module"></param>
        /// <param name="name"></param>
        /// <param name="display"></param>
        /// <param name="deviceId"></param>
        /// <param name="address"></param>
        public RorzePreAligner(string module, string name, string display, string deviceId, string address) : base(module, name, display, deviceId, address)
        {
            base.Module = module;
            base.Name = name;
            _address = SC.GetStringValue($"{name}.Address");//从SC获取address
            _isAsciiMode = true;
            _socket = new AsyncSocket(_address, _newLine);
            _socket.OnDataChanged += OnReceiveMessage;
            _errorflag = false;
            _status = PAStatus.Init;
            Connect();
            _thread = new PeriodicJob(50, OnTimer, $"{name}->RT", true);
        }
        

        /// <summary>
        /// 定时函数 用来监听最新收到的消息 并交给函数处理
        /// </summary>
        /// <returns></returns>
        private bool OnTimer()
        {
            //处理消息
            lock (_locker)
            {
                if (_isAsciiMode)//按照ascii码处理
                {
                    while (_lstAsciiMsgs.Count > 0)
                    {
                        string value = _lstAsciiMsgs.First.Value;
                        HandleAsciiData(value);
                        _lstAsciiMsgs.RemoveFirst();
                    }
                }
            }
            return true;

        }

        //当收到新数据时
        private void OnReceiveMessage(string RevMsg)
        {
            //处理粘包 按照newline拆开
            lock (_locker)
            {
                if (string.IsNullOrEmpty(_newLine))//没有CR
                {
                    _lstAsciiMsgs.AddLast(RevMsg);//将消息添加到最后
                    return;
                }
                string[] array = RevMsg.Split(_newLine.ToCharArray());//按照cr分开通讯数据
                foreach (string text in array)
                {
                    if (!string.IsNullOrEmpty(text))
                    {
                        _lstAsciiMsgs.AddLast(text + _newLine);//存进list中等待处理
                    }
                }
            }
        }

        //利用定时器 对处理好的数据进行处理
        private void HandleAsciiData(string msg)
        {
            try
            {
                //不是空的情况下
                if (!string.IsNullOrEmpty(msg))
                {
                    //首先处理头
                    switch (msg[0])
                    {
                        case 'n':
                            //错误处理代码
                            LogObject.Error(Name, "传参不符合格式");
                            break;
                        case 'c':
                            //取消处理代码
                            string param_code = catch_parameter.Match(msg).Value;
                            if (cancelcode2msg.ContainsKey(param_code))
                            {
                                string cancel_reason = cancelcode2msg[param_code];
                                LogObject.Error(Name, cancel_reason);
                            }
                            else
                                LogObject.Error(Name, "未定义相关cancel code");
                            break;
                        case 'e':
                            //大于7说明错误代码是存在的
                            if (msg.Length > 7)
                            {
                                //提取最后两位错误 作为索引
                                string errorcode = msg.Substring(msg.Length-2,2);
                                if (errorcode2msg.ContainsKey(errorcode))
                                {
                                    string error_reason = errorcode2msg[errorcode];
                                    LogObject.Error(Name, error_reason);
                                }
                                _errorflag = true;
                            }
                            break;
                        case 'a':
                            //正常结束
                            _status = PAStatus.Idle;
                            break;
                        default:
                            break;
                    }
                }
            }
            catch (Exception ex)
            {
                LogObject.Error(Name, ex);
            }
        }
        

        public override bool Connect()
        {
            _socket.Connect(_address);
            return _socket.IsConnected;
        }

        public override bool Disconnect()
        {
            _socket.Dispose();
            return _socket.IsConnected;
        }

        public override bool Home(out string reason)
        {
            reason = "";
            if (_socket.Write("oALN1.HOME"+_newLine) && _status != PAStatus.Home)
                _status = PAStatus.Home;
            return _status == PAStatus.Home;
        }

        public override bool Align(double angle, out string reason)
        {
            reason = "";
            //1基板对齐
            //7不吸附的对齐
            //10双O基板对齐
            //11双O基板亚O面对齐
            if(_socket.Write($"oALN1.ALGN(1,{angle})"+_newLine))
                _status = PAStatus.Align;
            return _status == PAStatus.Align;
        }

        public override bool Clear(out string reason)
        {
            //利用RSTA清错误
            reason = "";
            if(_socket.Write("oALN1.RSTA(1)"+_newLine))
                _status = PAStatus.Reset;
            return _status == PAStatus.Reset;

        }

        public override bool Init(out string reason)
        {
            //初始化
            reason = "";
            return _socket.Write("oALN1.INIT" + _newLine);
        }

        public override void Reset()
        {
            //重置
            _status = PAStatus.Reset;
            if (_socket.Write("oALN1.RSTA(1)" + _newLine))
                _status = PAStatus.Reset;
        }

        public override bool Stop(out string reason)
        {
            //停止
            reason = "";
            return _socket.Write("oALN1.STOP" + _newLine);
        }

        public override void Terminate()
        {
            //暂停
            _socket.Write("oALN1.PAUS" + _newLine);
        }

        public override bool QueryState(out string reason)
        {
            //查询设备状态
            reason = "";
            return _socket.Write("oALN1.STAT" + _newLine);
        }

        public override bool Initialize()
        {
            return true;
        }

        public override bool Grip(Hand hand, out string reason)
        {
            return base.Grip(hand, out reason);
        }

        public override bool Release(Hand hand, out string reason)
        {
            return base.Release(hand, out reason);
        }

        public override bool LiftDown(out string reason)
        {
            return base.LiftDown(out reason);
        }

        public override bool LiftUp(out string reason)
        {
            return base.LiftUp(out reason);
        }

        public override void Monitor()
        {
            base.Monitor();
        }

        public override bool MoveToReady(out string reason)
        {
            return base.MoveToReady(out reason);
        }

        public override string ToString()
        {
            return base.ToString();
        }


        public override bool Equals(object obj)
        {
            return base.Equals(obj);
        }

        public override int GetHashCode()
        {
            return base.GetHashCode();
        }
    }
}