using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.PlatingCell;
using PunkHPX8_RT.Devices.PowerSupplier;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Navigation;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellReclaimRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            SetCurrentProtect,
            SetCurrentProtectWait,
            VerticalGotoReclaim,
            CheckVerticalGotoReclaim,
            PowerDisable,
            ChangeRotation,
            RotationDelay,
            End
        }
        #region 常量
        #endregion

        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// 片子是否电镀
        /// </summary>
        private bool _isZeroCurrent = false;
        /// <summary>
        /// reclaim过程是否启用电流保护
        /// </summary>
        private bool _isCurrentProtectEnable = false;
        /// <summary>
        ///reclaim过程vertical运动速度
        /// </summary>
        private int _verticalReclaimSpeed = 0;
        /// <summary>
        /// reclaim过程vertical加速度
        /// </summary>
        private int _verticalReclaimAcceleration = 0;
        /// <summary>
        /// reclaim过程电流保护的电流数值
        /// </summary>
        private double _reclaimCurrentSetPoint = 0;
        /// <summary>
        /// 设置电流并启动routine
        /// </summary>
        private PowerSupplierSetCurrentRoutine _enablePowerRoutine;
        /// <summary>
        /// PowerSupplier
        /// </summary>
        protected CellPowerSupplier _powerSupplier;
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellReclaimRoutine(string module) : base(module)
        {

        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.RunIf(RunRecipeStep.SetCurrentProtect, !_isZeroCurrent && _isCurrentProtectEnable, () => {return _enablePowerRoutine.Start(_reclaimCurrentSetPoint) == RState.Running; }, _delay_1ms)
                  .WaitWithStopConditionIf(RunRecipeStep.SetCurrentProtectWait, !_isZeroCurrent && _isCurrentProtectEnable,
                      () => CommonFunction.CheckRoutineEndState(_enablePowerRoutine), 
                      () => CommonFunction.CheckRoutineStopState(_enablePowerRoutine))
                  .Run(RunRecipeStep.VerticalGotoReclaim, () => StartVertical("Reclaim",_recipe.ReclaimZoffset, _verticalReclaimSpeed, _verticalReclaimAcceleration), _delay_1ms)
                  .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoReclaim, CheckVerticalEnd, CheckVerticalError)
                  .RunIf(RunRecipeStep.PowerDisable, !_isZeroCurrent && _isCurrentProtectEnable, DisablePower, _delay_1ms)
                  .Run(RunRecipeStep.ChangeRotation, () => ChangeRotationSpeed(_recipe.ReclaimSpeed), _delay_1ms)
                  .Delay(RunRecipeStep.RotationDelay, _recipe.ReclaimTime*1000)
                  .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 停止电源输出
        /// </summary>
        /// <returns></returns>
        private bool DisablePower()
        {
            return _device.PowerSupplier.DisableOperation("", null);
        }
        /// <summary>
        /// rotation改变速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        private bool ChangeRotationSpeed(int speed)
        {
            double _scale = _rotationAxis.ScaleFactor;
            speed = (int)Math.Round(_scale * BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(speed), 0);
            return _rotationAxis.ChangeSpeed(speed);
        }
        /// <summary>
        /// vertical 运行
        /// </summary>
        /// <param name="positionName"></param> 目标位置名称
        /// <param name="offset"></param> 偏移量
        /// <returns></returns>
        private bool StartVertical(string positionName, double offset,int speed,int accelerate)
        {
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(eEvent.INFO_PLATINGCELL,
                    _verticalEntity.Module.ToString(), (int)PlatingCellVerticalEntity.VerticalMsg.Position, positionName, offset, speed, accelerate);
        }
        /// <summary>
        /// 检验垂直电机是否运动完成
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalEnd()
        {
            return _verticalEntity.IsIdle;
        }
        /// <summary>
        /// 检验垂直是否出现错误
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalError()
        {
            return _verticalEntity.IsError;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _recipe = (DepRecipe)objs[0];
            _isZeroCurrent = (bool)objs[1];
            _powerSupplier = (CellPowerSupplier)objs[2];
            if (_powerSupplier != null)
            {
                _enablePowerRoutine = new PowerSupplierSetCurrentRoutine(_powerSupplier.DeviceID);
            }
            _isCurrentProtectEnable = SC.GetValue<bool>("PlatingCell.PostProcessCurrentEnable");
            _verticalReclaimSpeed = SC.GetValue<int>("PlatingCell.ReclaimSpeed");
            _verticalReclaimAcceleration = SC.GetValue<int>("PlatingCell.ReclaimAcceleration");
            _reclaimCurrentSetPoint = SC.GetValue<double>("PlatingCell.PostProcessCurrentSetPoint");
            
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            return Runner.Start(Module, "start Reclaim routine");
        }
    }
}