using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Threading;
using System.Windows;
using System.Windows.Forms;
using System.Windows.Input;
using GummingCommon;
using GummingEntity;
using GummingSupport;
using GummingControl;
using System.Text;
using GummingBusiness;
using Newtonsoft.Json;
using GummingLine;
using System.Threading.Tasks;

namespace Gumming
{
    public class ControlDEVArmViewModule : ViewModelBase
    {
        #region base parameters
        private int rows = 20;
        private int pagenumber = 1;
        public ControlDEVArmView View { get; set; }
        private bool IsConfirm;
        private bool isLoading;
        private System.Timers.Timer timer;
        private HardFormulaFlowEntity HomeFlow;
        private bool Homing = false;
        private int MovingPostion = 0;
        #endregion

        #region constructor
        public ControlDEVArmViewModule()
        {
            View = new ControlDEVArmView();
            View.DataContext = this;

            InitializeCommands();
            InitializeParameters();
        }

        private void InitializeCommands()
        {
            CancelCommand = new DelegateCommand(OnCancelCommand);
            SVONCommand = new DelegateCommand(OnSVONCommand);            
            //JogForwardCommand = new DelegateCommand(OnJogForwardCommand);
            //JogBackCommand = new DelegateCommand(OnJogBackCommand);
            HomeCommand = new DelegateCommand(OnHomeCommand);
            PosMoveCommand = new DelegateCommand(OnPosMoveCommand);
        }

        public override void InitializeParameters(object content = null)
        {
            IsConfirm = false;
            WindowTitle = "";
            //*
            if (timer == null)
            {
                timer = new System.Timers.Timer();
                timer.Interval = 300;
                timer.Elapsed += timer_Elapsed;
                timer.Start();
            }//*/
        }

        public void ShowDialog()
        {
            IsConfirm = false;
            View.ShowDialog();
        }

        ~ControlDEVArmViewModule()
        {
        }

        public void LoadDefaultValue()
        {
            SafeStart = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVSafeStart : Constant.DIN2SafeStart)));
            SafeEnd = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVSafeEnd : Constant.DIN2SafeEnd)));
            AxisSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVAxisSpeed : Constant.DIN2AxisSpeed)));
            string postionkey = (IsDevArm ? string.Format("{0}_Arm1DevHomingOffset", StationCode) : string.Format("{0}_Arm2RinseHomingOffset", StationCode));
            var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
            HomePosition = postionSet.SettingValue;
            HomeSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVHomeSpeed : Constant.DIN2HomeSpeed)));
            MovePosition = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVMovePosition : Constant.DIN2MovePosition)));
            MoveSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsDevArm ? Constant.DEVMoveSpeed : Constant.DIN2MoveSpeed)));
            //默认Arm轴参数
            ArmFlow = (IsDevArm ? HardParameters.GetDEVDEVAxis(StationCode) : HardParameters.GetDEVDIN2Axis(StationCode));
            HomeFlow = (!IsDevArm ? HardParameters.GetCotPrAxis(StationCode) : HardParameters.GetCotEbrAxis(StationCode));
            //设置使能状态
            var axis = Global.Axises.FirstOrDefault(q => q.NodeId == ArmFlow.NodeId && q.SlotId == ArmFlow.SlotId);
            if (axis != null)
            {
                SVONStatus = axis.Energy;
            }
        }
        #endregion

        #region Binding Properties
        public string WindowTitle { get; private set; }
        public bool IsDevArm { get; set; }

        private ushort _MainAxisTopStatus;
        public ushort MainAxisTopStatus
        {
            get
            {
                return _MainAxisTopStatus;
            }
            set
            {
                _MainAxisTopStatus = value;
                OnPropertyChanged("MainAxisTopStatus");
            }
        }

        private string _HeaderTitle;
        public string HeaderTitle
        {
            get
            {
                return _HeaderTitle;
            }
            set
            {
                _HeaderTitle = value;
                OnPropertyChanged("HeaderTitle");
            }
        }

        private string _StationCode;
        public string StationCode
        {
            get
            {
                return _StationCode;
            }
            set
            {
                _StationCode = value;
                OnPropertyChanged("StationCode");
            }
        }

        private ushort _SVONStatus;
        public ushort SVONStatus
        {
            get
            {
                return _SVONStatus;
            }
            set
            {
                _SVONStatus = value;
                OnPropertyChanged("SVONStatus");
            }
        }

        private ushort _ForwardStatus;
        public ushort ForwardStatus
        {
            get
            {
                return _ForwardStatus;
            }
            set
            {
                _ForwardStatus = value;
                OnPropertyChanged("ForwardStatus");
            }
        }

        private ushort _BackStatus;
        public ushort BackStatus
        {
            get
            {
                return _BackStatus;
            }
            set
            {
                _BackStatus = value;
                OnPropertyChanged("BackStatus");
            }
        }

        private ushort _UpDownStatus;
        public ushort UpDownStatus
        {
            get
            {
                return _UpDownStatus;
            }
            set
            {
                _UpDownStatus = value;
                OnPropertyChanged("UpDownStatus");
            }
        }

        private decimal _CurPosition;
        public decimal CurPosition
        {
            get
            {
                return _CurPosition;
            }
            set
            {
                _CurPosition = value;
                OnPropertyChanged("CurPosition");
            }
        }

        private decimal _AxisSpeed;
        public decimal AxisSpeed
        {
            get
            {
                return _AxisSpeed;
            }
            set
            {
                _AxisSpeed = value;
                OnPropertyChanged("AxisSpeed");
            }
        }

        private decimal _HomePosition;
        public decimal HomePosition
        {
            get
            {
                return _HomePosition;
            }
            set
            {
                _HomePosition = value;
                OnPropertyChanged("HomePosition");
            }
        }

        private decimal _HomeSpeed;
        public decimal HomeSpeed
        {
            get
            {
                return _HomeSpeed;
            }
            set
            {
                _HomeSpeed = value;
                OnPropertyChanged("HomeSpeed");
            }
        }

        private decimal _MovePosition;
        public decimal MovePosition
        {
            get
            {
                return _MovePosition;
            }
            set
            {
                _MovePosition = value;
                OnPropertyChanged("MovePosition");
            }
        }

        private decimal _MoveSpeed;
        public decimal MoveSpeed
        {
            get
            {
                return _MoveSpeed;
            }
            set
            {
                _MoveSpeed = value;
                OnPropertyChanged("MoveSpeed");
            }
        }

        private decimal _SafeStart;
        public decimal SafeStart
        {
            get
            {
                return _SafeStart;
            }
            set
            {
                _SafeStart = value;
                OnPropertyChanged("SafeStart");
            }
        }

        private decimal _SafeEnd;
        public decimal SafeEnd
        {
            get
            {
                return _SafeEnd;
            }
            set
            {
                _SafeEnd = value;
                OnPropertyChanged("SafeEnd");
            }
        }

        private string _ControlName;
        public string ControlName
        {
            get
            {
                return _ControlName;
            }
            set
            {
                _ControlName = value;
                OnPropertyChanged("ControlName");
            }
        }

        private HardFormulaFlowEntity _ArmFlow;
        public HardFormulaFlowEntity ArmFlow
        {
            get
            {
                return _ArmFlow;
            }
            set
            {
                _ArmFlow = value;
                OnPropertyChanged("ArmFlow");
            }
        }

        private bool _IsSub1Open;
        public bool IsSub1Open
        {
            get { return _IsSub1Open; }
            set
            {
                _IsSub1Open = value;
                OnPropertyChanged("IsSub1Open");
            }
        }


        private bool _IsSub2Open;
        public bool IsSub2Open
        {
            get { return _IsSub2Open; }
            set
            {
                _IsSub2Open = value;
                OnPropertyChanged("IsSub2Open");
            }
        }

        private bool _IsSub3Open;
        public bool IsSub3Open
        {
            get { return _IsSub3Open; }
            set
            {
                _IsSub3Open = value;
                OnPropertyChanged("IsSub3Open");
            }
        }
        private ushort _HOMEStatus;
        public ushort HOMEStatus
        {
            get
            {
                return _HOMEStatus;
            }
            set
            {
                _HOMEStatus = value;
                OnPropertyChanged("HOMEStatus");
            }
        }
        #endregion

        #region Binding Commands
        private ICommand _CancelCommand;
        public ICommand CancelCommand
        {
            get
            {
                return _CancelCommand;
            }
            set
            {
                _CancelCommand = value;
                OnPropertyChanged("CancelCommand");
            }
        }

        private ICommand _PosMoveCommand;
        public ICommand PosMoveCommand
        {
            get
            {
                return _PosMoveCommand;
            }
            set
            {
                _PosMoveCommand = value;
                OnPropertyChanged("PosMoveCommand");
            }
        }
        private ICommand _HomeCommand;
        public ICommand HomeCommand
        {
            get
            {
                return _HomeCommand;
            }
            set
            {
                _HomeCommand = value;
                OnPropertyChanged("HomeCommand");
            }
        }
        private ICommand _JogBackCommand;
        public ICommand JogBackCommand
        {
            get
            {
                return _JogBackCommand;
            }
            set
            {
                _JogBackCommand = value;
                OnPropertyChanged("JogBackCommand");
            }
        }

        private ICommand _JogForwardCommand;
        public ICommand JogForwardCommand
        {
            get
            {
                return _JogForwardCommand;
            }
            set
            {
                _JogForwardCommand = value;
                OnPropertyChanged("JogForwardCommand");
            }
        }
        
        private ICommand _SVONCommand;
        public ICommand SVONCommand
        {
            get
            {
                return _SVONCommand;
            }
            set
            {
                _SVONCommand = value;
                OnPropertyChanged("SVONCommand");
            }
        }
        #endregion

        #region Private Methods
        private void timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            int position = 0;            
            if (ArmFlow != null && !Helpering.IsTerminate && this.IsActiveChildPage)
            {
                DeviceControl.GetPosition(ArmFlow.NodeId, ArmFlow.SlotId, ref position);
                if (Homing && ControlCheck.IsHomeDone(ArmFlow.NodeId, ArmFlow.SlotId))//恢复Home状态
                {
                    HOMEStatus = 0;
                    Homing = false;
                }
                if (MovingPostion == position)
                {
                    MainAxisTopStatus = 0;
                }
                /* 回原成功
                byte[] Data2 = new byte[4];
                DeviceControl.ReadPDOParameter(ArmFlow.NodeId, 0, 0x6064, 1, 4, ref Data2[0]);
                int dataa = TypeHelper.ByteArrayToInt(Data2);

                DeviceControl.ReadPDOParameter(ArmFlow.NodeId, 0, 0x607A, 1, 4, ref Data2[0]);
                int data2 = TypeHelper.ByteArrayToInt(Data2);*/

                //监测针脚信号
                ushort Index = 0x2155;
                ushort Datasize = 4;
                byte[] Data = new byte[4];
                DeviceControl.ReadPDOParameter(ArmFlow.NodeId, 0, Index, 0, Datasize, ref Data[0]);
                int c = TypeHelper.ByteArrayToShort(Data);
                string values = Convert.ToString(c, 2);
                IsSub1Open = false;
                IsSub2Open = false;
                IsSub3Open = false;
                //原点最右侧                
                if (values.Length > 0)
                {
                    IsSub3Open = values.Substring(values.Length - 1) == "1";
                }
                //中间负极
                if (values.Length > 1)
                {
                    IsSub2Open = values.Substring(values.Length - 2, 1) == "1";
                }
                //左侧正极
                if (values.Length > 2)
                {
                    IsSub1Open = values.Substring(values.Length - 3, 1) == "1";
                }

                DeviceControl.IsEnergy(ArmFlow.NodeId);
            }

            View.Dispatcher.BeginInvoke(new Action(() =>
            {
                CurPosition = BusinessHelper.ConvertFromDEVDegree(StationCode, (double)position, IsDevArm);
            }), null);
        }

        private void OnCancelCommand(object sender)
        {
            View.DialogResult = true;
        }

        private void OnSVONCommand(Object sender)
        {            
            if (ArmFlow != null)
            {
                SVONStatus = (ushort)(SVONStatus != 1 ? 1 : 0);
                DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus);
            }
        }

        public void OnJogForwardStart()
        {
            if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
            {
                ShowErrorBox(string.Format("请确保{0}在原点位置", IsDevArm ? "漂洗臂控制" : "显影臂控制"));
                return;
            }
            if (ArmFlow != null)
            {
                int axisSpeed = BusinessHelper.ConvertDEVDegree(StationCode, (double)AxisSpeed, IsDevArm);
                double axisAcc = Global.ArmAcc;
                SVONStatus = 1;
                if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                {
                    ForwardStatus = 1;
                    //匀速运动
                    ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, 0, axisSpeed, axisSpeed, axisAcc));
                }
            }
        }
        public void OnJogForwardStop()
        {
            if (ArmFlow != null)
            {
                int axisSpeed = BusinessHelper.ConvertDEVDegree(StationCode, (double)AxisSpeed, IsDevArm);
                double axisAcc = Global.ArmAcc;
                SVONStatus = 1;
                if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                {
                    ForwardStatus = 0;
                    //匀速运动
                    ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, axisAcc));
                }
            }
        }
        public void OnJogBackStart()
        {
            if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
            {
                ShowErrorBox(string.Format("请确保{0}在原点位置", IsDevArm ? "漂洗臂控制" : "显影臂控制"));
                return;
            }
            if (ArmFlow != null)
            {
                int axisSpeed = BusinessHelper.ConvertDEVDegree(StationCode, (double)AxisSpeed, IsDevArm);
                double axisAcc = Global.ArmAcc;
                SVONStatus = 1;
                if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                {
                    BackStatus = 1;
                    //匀速运动
                    ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, 1, axisSpeed, axisSpeed, axisAcc));
                }
            }
        }
        public void OnJogBackStop()
        {           
            if (ArmFlow != null)
            {
                int axisSpeed = BusinessHelper.ConvertDEVDegree(StationCode, (double)AxisSpeed, IsDevArm);
                double axisAcc = Global.ArmAcc;
                SVONStatus = 1;
                if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                {
                    BackStatus = 0;
                    //匀速运动
                    ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, axisAcc));
                }
            }
        }

        private void OnPosMoveCommand(Object sender)
        {
            if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
            {
                ShowErrorBox(string.Format("请确保{0}在原点位置", IsDevArm ? "漂洗臂控制" : "显影臂控制"));
                return;
            }
            if (ArmFlow != null)
            {
                int axisSpeed = BusinessHelper.ConvertDEVDegree(StationCode, (double)AxisSpeed, IsDevArm);
                int axisPostion = BusinessHelper.ConvertDEVDegree(StationCode, (double)MovePosition, IsDevArm);

                double axisAcc = Global.ArmAcc;
                SVONStatus = 1;
                if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                {
                    if (MainAxisTopStatus != 1)
                    {
                        MovingPostion = axisPostion;
                        MainAxisTopStatus = 1;
                        //匀速运动
                        ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, axisPostion, axisSpeed, axisSpeed, 0, (uint)axisAcc, (uint)axisAcc, 1));
                    }
                    else
                    {
                        MainAxisTopStatus = 0;
                        //停止运动
                        ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, Global.ArmAcc));
                    }
                }
            }
        }

        private void OnHomeCommand(Object sender)
        {
            if (ArmFlow != null)
            {
                if (HOMEStatus != 1)
                {
                    Homing = true;
                    HOMEStatus = 1;
                    uint homeSpeed = (uint)BusinessHelper.ConvertDEVDegree(StationCode, (double)HomeSpeed, IsDevArm);
                    int homePostion = BusinessHelper.ConvertDEVDegree(StationCode, (double)HomePosition, IsDevArm);
                    if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
                    {
                        ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.GoArmHome(Global.ArmHomeWay, ArmFlow.NodeId, ArmFlow.SlotId, homePostion, homeSpeed));
                    }
                }
                else
                {
                    HOMEStatus = 0;
                    //匀速运动
                    ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, Global.StopAcc));
                }
            }
        }
       
        public void OnSafeStartTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVSafeStart : Constant.DIN2SafeStart), Convert.ToString(value));
        }

        public void OnSafeEndTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVSafeEnd : Constant.DIN2SafeEnd), Convert.ToString(value));
        }

        public void OnAxisSpeedTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVAxisSpeed : Constant.DIN2AxisSpeed), Convert.ToString(value));
        }

        public void OnHomePositionTextChangedCommand(string value)
        {
            //HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVHomePosition : Constant.DIN2HomePosition), Convert.ToString(value));
            string postionkey = (IsDevArm ? string.Format("{0}_Arm1DevHomingOffset", StationCode) : string.Format("{0}_Arm2RinseHomingOffset", StationCode));
            var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
            postionSet.SettingValue = Common.ToDecimal(value);
            SysSettingDA.Update(postionSet);
        }
        public void OnHomeSpeedTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVHomeSpeed : Constant.DIN2HomeSpeed), Convert.ToString(value));
        }
        public void OnMovePositionTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVMovePosition : Constant.DIN2MovePosition), Convert.ToString(value));
        }
        public void OnMoveSpeedTextChangedCommand(string value)
        {
            HardParameterDA.Save(StationCode + (IsDevArm ? Constant.DEVMoveSpeed : Constant.DIN2MoveSpeed), Convert.ToString(value));
        }
        #endregion
    }
}