using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.CommonData.PowerSupplier;
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 System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellEntryRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            RotationStartEntry,
            RotationChangeToEntrySpeed,
            AngleTilt,
            VerticalGotoPlate,
            WaitEntryCurrentProtectedFromRinse,
            WaitEntryCurrentProtectedFromHome,
            RunPowerStepWithEntryProtect,
            CheckVerticalGotoPlate,
            AngleVertical,
            WaitPlatingDelay,
            End
        }
        #region 常量
        /// <summary>
        /// ROTATION电机转速比例
        /// </summary>
        private const int SPEED_RATIO = 1;
        #endregion

        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// Vertical axis
        /// </summary>
        private JetAxisBase _verticalAxis;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// rotation运动的目的地
        /// </summary>
        private int _rotationgTargetPosition;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// Power step集合
        /// </summary>
        List<PowerSupplierStepPeriodData> _powerSupplierStepPeriodDatas = new List<PowerSupplierStepPeriodData>();
        /// <summary>
        /// Plating启动时间
        /// </summary>
        private DateTime _platingStartTime;
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellEntryRoutine(string module) : base(module)
        {

        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {        //启动Rotation/Rotation 设置为entry 转速 （没有intercal rinse 在entry开始的时候启动rotation）
            Runner.RunIf(RunRecipeStep.RotationStartEntry, !_recipe.RinseBeforeEntryEnable, RotationStartEntry, _delay_1ms)
                //有intercal rinse 直接变速 （rotation在interval rinse的时候已经启动了）
                .RunIf(RunRecipeStep.RotationChangeToEntrySpeed, _recipe.RinseBeforeEntryEnable, () => { return ChangeSpeed(_recipe.EntrySpinSpeed); }, _delay_1ms)
                //Angle tilt 操作
                .Run(RunRecipeStep.AngleTilt, _device.HeadtTiltAction, () => { return _device.PlatingCellDeviceData.IsHeadTilt; }, _delay_1s)
                //vertical goto plate
                .Run(RunRecipeStep.VerticalGotoPlate, () => { return StartVertical("Plate", _recipe.DepSteps[0].PlatingZoffset); }, _delay_1ms)
                //vertical 到达entry位置前110ms (多10ms)
                .Delay(RunRecipeStep.WaitEntryCurrentProtectedFromRinse, CalculatePowerDelayTime())
                //有上电保护，此刻给电
                .RunIf(RunRecipeStep.RunPowerStepWithEntryProtect, !_recipe.IsEntryTypeCold, StartPowerStep, _delay_1ms)
                //检查vertical到达plate位置
                .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoPlate, CheckVerticalEnd, CheckVerticalError)
                //Angle vertical操作
                .Run(RunRecipeStep.AngleVertical, _device.HeadtVerticalAction, () => { return _device.PlatingCellDeviceData.IsHeadVertical; }, _delay_1s)
                //如果不需要上电保护，执行plating delay
                .DelayIf(RunRecipeStep.WaitPlatingDelay, _recipe.IsEntryTypeCold, _recipe.PlatingDelay * 1000)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 计算出上电前需要delay的时间 
        /// </summary>
        /// <returns> 返回值单位ms</returns>
        private int CalculatePowerDelayTime()
        {
            int delayTime = 0;
            if (_recipe.RinseBeforeEntryEnable)
            {
                delayTime = _verticalAxis.CalculateVerticaMoveTime($"{_verticalAxis.Module}.Vertical", "Rinse", "Entry", 0 ,_recipe.EntryZoffset) - 110;
            }
            else
            {
                delayTime = _verticalAxis.CalculateVerticaMoveTime($"{_verticalAxis.Module}.Vertical", "Load", "Entry", 0, _recipe.EntryZoffset) - 110;

            }
            return delayTime;
        }
        /// <summary>
        /// 启动PowerSupplier
        /// </summary>
        /// <returns></returns>
        private bool StartPowerStep()
        {
            bool result = _device.PowerSupplier.StartSetStepPeriodNoWaitEnd(_powerSupplierStepPeriodDatas);
            if (!result)
            {
                _device.PowerSupplier.DisableOperation("", null);
                return false;
            }
            _platingStartTime = DateTime.Now;
            return true;
        }
        /// <summary>
        /// rotation 从entry步骤开始旋转
        /// </summary>
        /// <returns></returns>
        private bool RotationStartEntry()
        {
            bool result = _rotationAxis.ProfilePosition(_rotationgTargetPosition, _recipe.EntrySpinSpeed * SPEED_RATIO, 0, 0);
            if (!result)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Start Rotation is failed", 0);
                return false;
            }
            return true;
        }
        /// <summary>
        /// change speed
        /// </summary>
        /// <returns></returns>
        private bool ChangeSpeed(int speed)  //参数speed单位是rmp
        {
            double realSpeed = BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(speed);
            bool result = _rotationAxis.ChangeSpeed((int)realSpeed);
            if (!result)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Change Speed failed", 0);
                return false;
            }
            return true;
        }
        /// <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)
        {
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                    Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, positionName, offset);
        }
        
        /// <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];
            _rotationgTargetPosition = (int)objs[1];
            _powerSupplierStepPeriodDatas = (List<PowerSupplierStepPeriodData>)objs[2];
            _platingStartTime = (DateTime)objs[3];
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{vertical}.Vertical");//不能用来移动,移动用vertical entity来操作
            return Runner.Start(Module, "start Entry routine");
        }
    }
}