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

namespace AuroraPLC
{
    public abstract partial class PLCBase
    {
        // PLC Motor 용 모션 제어 로직들

        public List<PLCMotorBase> _plcMotorList = new List<PLCMotorBase>();
        public bool HasMotionAxes { get; set; }

        #region 스레드
        protected bool bThread_Run = false;
        Thread Thread_aLive = null;
        public bool bThreadStop = false;

        // 기본 60 Hz = 16.667
        // 기본 100 Hz = 10 ms
        public int loopPeriodMS = 10;


        public void StartPLCMotionThread()
        {
            if (!bThread_Run) {
                Thread_Run();
            }
        }

        public void StopPLCMotionThread()
        {
            Thread_Stop();
        }

        void Thread_Run()
        {
            if (Thread_aLive == null)
                Thread_aLive = new Thread(ThreadFunction);

            Thread.Sleep(300);

            if (!bThread_Run) {
                bThread_Run = true;
                Thread_aLive.Start();
                Log.V("PLCMotion Thread: Start");
            }
        }

        public void Thread_Stop()
        {
            if (bThread_Run) {
                bThread_Run = false;
                Thread.Sleep(loopPeriodMS*2);
                Thread_aLive.Abort();
                Log.V("PLCMotion Thread: Stop");
            }

            Thread_aLive = null;
        }

        private void ThreadFunction()
        {
            while (bThread_Run) {
                try {
                    if (!bThreadStop) {
                        // 모션 업데이트 로직들
                        foreach (var axis in _plcMotorList) {
                            axis.UpdateMotion();
                        }
                    }
                } catch (Exception ex) {
                    Log.E($"Exceptoin: {ex.Message}");
                }
                Thread.Sleep(loopPeriodMS);
            }
        }
        #endregion
    }
}