using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.ToolLayout;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.Facilities;
using PunkHPX8_RT.Devices.PlatingCell;
using PunkHPX8_RT.Modules.Reservoir;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using static Mono.Security.X509.X520;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellRunRecipeRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            Delay,
            VerticalGotoRinse,
            CheckVerticalGotoRinse,
            InterRinse,
            CheckInterRinse,
            RotationStartEntry,
            RotationChangeToEntrySpeed,
            AngleTilt,
            VerticalGotoEntry,
            WaitEntryCurrentProtectedFromRinse,
            WaitEntryCurrentProtectedFromHome,
            EntryCurrentProtected,
            CheckVertical,
            End
        }
        #region 常量 
        private const int ALL_DAY_MILLOSECONDS = 24 * 60 * 60 * 1000;
        /// <summary>
        /// ROTATION电机转速比例
        /// </summary>
        private const int SPEED_RATIO = 1;
        #endregion

        #region 内部变量
        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        ///rotation Provider对象
        /// </summary>
        private BeckhoffProviderAxis _rotationProviderAxis;
        /// cycle次数
        /// </summary>
        private int _cycle;
        /// <summary>
        /// 当前完成的Cycle次数
        /// </summary>
        private int _currentCycle;
        /// <summary>
        /// platingcell entity
        /// </summary>
        private PlatingCellEntity _platingCellEntity;
        /// <summary>
        /// 对应reservoir entity
        /// </summary>
        private ReservoirEntity _reservoirEntity;
        /// <summary>
        /// interbal rinse routien
        /// </summary>
        private PlatingCellInterRinseRoutine _interRinseRoutine;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// vertical 轴的位置数据
        /// </summary>
        private BeckhoffStationAxis _verticalBeckhoffStation;
        /// <summary>
        /// recipe中是否存在电机反转
        /// </summary>
        private bool _isRecipeContainsRevserseRotation;
        /// <summary>
        /// run recipe 过程中电机会停的位置（需要根据recipe计算出来）
        /// </summary>
        private List<int> _targetPositionList = new List<int>(); 
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellRunRecipeRoutine(string module) : base(module)
        {
            _interRinseRoutine = new PlatingCellInterRinseRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {        //vertical去rinse位置
            Runner.RunIf(RunRecipeStep.VerticalGotoRinse, _recipe.RinseBeforeEntryEnable, () => { return StartVertical("Rinse",_recipe.IntervalRinseZoffset); }, _delay_1ms)
                .WaitWithStopConditionIf(RunRecipeStep.CheckVerticalGotoRinse, _recipe.RinseBeforeEntryEnable, CheckVerticalEnd, CheckVerticalError)
                 //执行interval rinse
                .RunIf(RunRecipeStep.InterRinse, _recipe.RinseBeforeEntryEnable, () => { return _interRinseRoutine.Start(_recipe, _rotationAxis, _device, _rotationProviderAxis, _targetPositionList[0]) == RState.Running; })
                .WaitWithStopConditionIf(RunRecipeStep.CheckInterRinse, _recipe.RinseBeforeEntryEnable, CheckInterRinseEndStatus,
                        () => CommonFunction.CheckRoutineStopState(_interRinseRoutine))
                 //启动Rotation/Rotation 设置为entry 转速
                .RunIf(RunRecipeStep.RotationStartEntry, !_recipe.RinseBeforeEntryEnable, RotationStartEntry, _delay_1ms)  //没有intercal rinse 在entry开始的时候启动rotation
                .RunIf(RunRecipeStep.RotationChangeToEntrySpeed, _recipe.RinseBeforeEntryEnable, () => { return ChangeSpeed(_recipe.EntrySpinSpeed); }, _delay_1ms)  //有intercal rinse 直接变速
                 //Angle tilt 操作
                .Run(RunRecipeStep.AngleTilt, _device.HeadtTiltAction, () => { return _device.PlatingCellDeviceData.HeadTilt; }, _delay_1s)
                .Run(RunRecipeStep.VerticalGotoEntry, () => { return StartVertical("Entry", _recipe.EntryZoffset); }, _delay_1ms)
                .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromRinse, !_recipe.RinseBeforeEntryEnable,CalculateVerticaMoveTime("Rinse","Entry") - 100 > 0 ? CalculateVerticaMoveTime("Rinse", "Entry"):0)
                .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromHome, _recipe.RinseBeforeEntryEnable,CalculateVerticaMoveTime("Home","Entry") - 100 > 0 ? CalculateVerticaMoveTime("Home", "Entry") : 0)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 计算vertical 从一个位置移动到另一个位置用时
        /// </summary>
        /// <param name="sourceLocation"></param>
        /// <param name="destinationLocation"></param>
        /// <returns>返回值单位毫秒</returns>
        private int CalculateVerticaMoveTime(string sourceLocation,string destinationLocation) 
        {
            Station sourceStation = _verticalBeckhoffStation.Stations.FirstOrDefault(p => p.Name == $"{_verticalEntity.Module}.{sourceLocation}");
            Station destinationStation = _verticalBeckhoffStation.Stations.FirstOrDefault(p => p.Name == $"{_verticalEntity.Module}.{destinationLocation}");
            Double.TryParse(sourceStation.Position, out double sourcePosition);
            Double.TryParse(destinationStation.Position, out double destinationPosition);
            double time = Math.Abs(destinationPosition - sourcePosition) / _verticalEntity.MotionData.ProfileVelocity * 10;
            if (time <= 0)
            {
                NotifyError(eEvent.WARN_PLATINGCELL, "Calculate Vertica Move Time is 0", 0);
                return 0;
            }
            return (int)time;
        }
        /// <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;
        }
        private bool CheckInterRinseEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_interRinseRoutine);
            SubRoutineStep = _interRinseRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// rotation 从entry步骤开始旋转
        /// </summary>
        /// <returns></returns>
        private bool RotationStartEntry()
        {
            bool result = _rotationAxis.ProfilePosition(_targetPositionList[0], _recipe.IntervalRinseSpeed * SPEED_RATIO, 0, 0);
            if (!result)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Start Rotation is 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) 
        {
            double position = 0;
            Station station = _verticalBeckhoffStation.Stations.FirstOrDefault(p => p.Name == $"{_verticalEntity.Module}.{positionName}");
            if (station != null)
            {
                if(!Double.TryParse(station.Position, out position))
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "vertical station position is error");
                    return false;
                }
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"vertical station {_verticalEntity.Module}.{positionName} is null");
                return false;
            }
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                    Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, position + offset);
        }
        /// <summary>
        /// 检验垂直电机是否运动完成
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalEnd()
        {
            return _verticalEntity.IsIdle;
        }
        /// <summary>
        /// 检验垂直是否出现错误
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalError()
        {
            return _verticalEntity.IsError;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _recipe = objs[0] as DepRecipe;
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_METAL, Module, "recipe is null");
                return RState.Failed;
            }
            if (objs.Length > 1)
            {
                _cycle = (int)objs[1];
            }
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _rotationProviderAxis = BeckhoffAxisProviderManager.Instance.GetAxisProvider($"{Module}.Rotation");
            if (_rotationProviderAxis == null)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, $"{Module}.Rotation Provider is not exist", 0);
                return RState.Failed;
            }
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            //获取platingcell eneity
            _platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
            //获取对应reservoir eneity
            string reservoir = ReservoirItemManager.Instance.GetReservoirByPlatingCell(Module);
            _reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(reservoir);
            //获取vertical station信息对象
             _verticalBeckhoffStation = BeckhoffStationLocationManager.Instance.GetStationAxis($"{_verticalEntity.Module}", "Vertical");
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            _currentCycle = 0;

 
            return Runner.Start(Module, "Run Recipe");
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe is null");
                return false;
            }

            //if (_recipe.DepSteps.Count == 0)
            //{
            //    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe DepSteps count is 0");
            //    return false;
            //}
            CheckAxisHome();
            CheckFacility();
            CheckModuleAndReservoir();
            return true;
        }
        private bool CheckModuleAndReservoir()
        {
            if (!_platingCellEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is not initialized");
                return false;
            }
            if (!_reservoirEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr is not initialized");
                return false;
            }
            if (!_reservoirEntity.TemperatureReached)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr temperature is not reached");
                return false;
            }
            if ("Manual".Equals(_reservoirEntity.PersistentValue.OperatingMode) && !WaferManager.Instance.CheckHasWafer(Module, 0))
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Run recipe in manual must has wafer!");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检查马达是否上电且home
        /// </summary>
        /// <returns></returns>
        private bool CheckAxisHome()
        {
            if (!_rotationAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is off");
                return false;
            }
            if (!_rotationAxis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is not home");
                return false;
            }
            if (!_verticalEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical Axis is not home");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检查facility
        /// </summary>
        /// <returns></returns>
        private bool CheckFacility()
        {
            SystemFacilities systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
            if (systemFacilities == null) 
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility is null");
                return false;
            }
            if (!systemFacilities.CDAEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA is off");
                return false;
            }
            if (!systemFacilities.N2Enable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 is off");
                return false;
            }
            if (!systemFacilities.DIFillEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility DIW is off");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["CDA1Pressure"].IsError || systemFacilities.FacilitiesDataDic["CDA2Pressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA Data is in errro range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["Nitrogen1APressure"].IsError  || 
                systemFacilities.FacilitiesDataDic["Nitrogen1BPressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2APressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2BPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 Data is in errro range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["DiWaterPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility Diw Pressure value is in errro range");
                return false;
            }
            return true;
        }
    }
}