using GummingCommon;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace GummingControl
{
    public class ControlCheck
    {
        public static int WaitTimes = 20000;//等待次数 20000/5， 约一千次， 20S
        public static int HomeWaitTimes = 15000;//等待次数 15000/5， 约3千次， 15S
        public static int DIWaitTimes = 10000;//等待次数 5000/10， 约500次， 5S
        public static bool PMCInvoke(bool IgnoreError, string FuncInfo, object Input, Func<bool> DoAction)
        {
            bool st = false;
            int retryCount = 0;
            while (!st)
            {
                retryCount++;
                st = DoAction();

                if (retryCount % 101 == 0) 
                {
                    string error = string.Format("{0}{1}次重试，", FuncInfo, retryCount);
                    Global.WriteErrorLog(error);
                }
                if (retryCount > 3)
                {
                    Thread.Sleep(5);
                }
                if (retryCount > Global.MaxRetryTimers)
                {
                    object target = DoAction.Target;
                    string parameters = string.Empty;
                    if (target != null)
                    {
                        foreach (var field in target?.GetType()?.GetFields())
                        {
                            parameters = string.Format("{0},FieldName:{1},FieldValue:{2}\r\n", parameters, field.Name, field.GetValue(target));
                        }
                    }
                    string error = string.Format("{0}硬件接口第{1}次重试后仍然不能连接硬件设备,错误详情:{2},请尝试重启系统进行连接", FuncInfo, retryCount, parameters);
                    Global.WriteErrorLog(error);
                    if (!IgnoreError)
                    {
                        //暂时不予处理
                        break;
                        //throw new Exception(error);
                    }
                }
            }
            return st;
        }

        public static bool WaitMainHomeDone(ushort nodeId, ushort slotId, int delay)
        {
            bool isDone = false;
            int waitTime = 0;
            if (delay <= 0)
            {
                delay = HomeWaitTimes;
            }
            DateTime dtStart = DateTime.Now;
            while (!isDone && waitTime < delay)
            {
                Thread.Sleep(5); //等待执行时间后自动关闭
                ushort postion = DeviceControl.HomeStatus(nodeId, slotId);
                isDone = postion == 0;
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < delay;
        }

        public static bool WaitHomeDone(ushort nodeId, ushort slotId, int delay)
        {            
            bool isDone = false;
            int waitTime = 0;
            if (delay <= 0)
            {
                delay = HomeWaitTimes;
            }
            DateTime dtStart = DateTime.Now;
            while (!isDone && waitTime < delay)
            {
                Thread.Sleep(5); //等待执行时间后自动关闭               
                isDone = DeviceControl.IsRealHomeStatus(nodeId, slotId);
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < delay;
            /*
            bool isDone = false;
            int waitTime = 0;
            while (!isDone && waitTime < HomeWaitTimes)
            {
                Thread.Sleep(5); //等待执行时间后自动关闭
                ushort postion = DeviceControl.HomeStatus(nodeId, slotId);
                isDone = postion == 0;
                if (isDone)
                {
                    return true;
                }
                waitTime = waitTime + 5;
            }
            return waitTime < HomeWaitTimes;*/
        }

        public static bool WaitHPHomeDone(ushort nodeId, ushort slotId, int delay)
        {
            bool isDone = false;
            int waitTime = 0;
            if (delay <= 0)
            {
                delay = HomeWaitTimes;
            }
            DateTime dtStart = DateTime.Now;
            while (!isDone && waitTime < delay)
            {
                Thread.Sleep(5); //等待执行时间后自动关闭               
                isDone = DeviceControl.IsHPRealHomeStatus(nodeId, slotId);
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < delay;
        }

        public static bool IsHomeDone(ushort nodeId, ushort slotId)
        {
            /*ushort postion = DeviceControl.HomeStatus(nodeId, slotId);
            int postion2 = 0;
            DeviceControl.GetPosition(nodeId, slotId, ref postion2);             
            return postion == 0 && Math.Abs(postion2) < 100;*/

            return DeviceControl.IsRealHomeStatus(nodeId, slotId);
        }

        public static bool IsHPHomeDone(ushort nodeId, ushort slotId)
        {
            /*ushort postion = DeviceControl.HomeStatus(nodeId, slotId);
            int postion2 = 0;
            DeviceControl.GetPosition(nodeId, slotId, ref postion2);             
            return postion == 0 && Math.Abs(postion2) < 100;*/

            return DeviceControl.IsHPRealHomeStatus(nodeId, slotId);
        }

        public static bool IsMainHomeDone(ushort nodeId, ushort slotId)
        {
            ushort postion = DeviceControl.HomeStatus(nodeId, slotId);
            int postion2 = 0;
            DeviceControl.GetPosition(nodeId, slotId, ref postion2);             
            return postion == 0 && Math.Abs(postion2) < 100;
        }


        public static bool WaitAxisDone(ushort nodeId)
        {
            bool isDone = false;
            int waitTime = 0;
            Helpering.Sleep(300);//等待电机运动
            DateTime dtStart = DateTime.Now;
            while (!isDone && waitTime < WaitTimes)
            {
                Thread.Sleep(5); //等待执行时间后自动关闭
                isDone = DeviceControl.CheckMotionDone(nodeId);
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < WaitTimes;
        }

        public static bool WaitDIDone(string refRecId, bool compareValue)
        {
            bool isDone = false;
            int waitTime = 0;
            var inputIO = Global.InputIOs.FirstOrDefault(q => q.RecId == refRecId);
            DateTime dtStart = DateTime.Now;
            while (!isDone && waitTime < DIWaitTimes)
            {
                Thread.Sleep(10); //等待执行时间后自动关闭
                isDone = DeviceControl.GetPortStatus(inputIO.NodeId, inputIO.SlotId, inputIO.PortIndex, compareValue);
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < DIWaitTimes;
        }

        public static bool WaitDIDone(string refRecId, bool compareValue, int delay)
        {
            bool isDone = false;
            int waitTime = 0;
            var inputIO = Global.InputIOs.FirstOrDefault(q => q.RecId == refRecId);
            DateTime dtStart = DateTime.Now;
            if (delay <= 0)
            {
                delay = DIWaitTimes;
            }
            while (!isDone && waitTime < delay)
            {
                Thread.Sleep(10); //等待执行时间后自动关闭
                isDone = DeviceControl.GetPortStatus(inputIO.NodeId, inputIO.SlotId, inputIO.PortIndex, compareValue);
                if (isDone)
                {
                    return true;
                }
                waitTime = (int)(DateTime.Now - dtStart).TotalMilliseconds;
            }
            return waitTime < delay;
        }
    }
}