using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using Hermes;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;

namespace AuroraMotor
{
    public enum eMoverErrCode
    {
        OK = 0,

        // Info
        Moving = 30100,
        NotArrived = 30101,
        MoverSeq_Stopped = 30102,

        // Warning
        TargetSPDIsZero = 30300,

        // Error
        NotActivated = 31000,

        CantChangeMoverGroupByMoving = 31100,

        IncorrectMoveCallByMoverGroup = 31150,

        IncorrectMotorIndex = 31160,
        IncorrectMoverGroup = 31161,

        TargetSPDIsNegative = 31200,
        NoMotors = 31201,
        CantMoveByMoving = 31202,

        //CmdMoveFail = 31200,

        MoverSeq_InternalErr = 31300,

        TimeOut = 31310,

    }

    public class SeqMover : Device
    {
        private static readonly Logger Log = new Logger("SeqMover");

        //private object _lock = new object();

        public enum eMoverState
        {
            Idle,
            Moving, // Jogging 포함..
            Stopped,
            StoppedByError,
            CmdMoveFail,
        }

        public eMoverState moverState = eMoverState.Idle;


        // 모션축 리스트 관리 변수
        public List<AuroraMotorBase> Motors { get; set; } = new List<AuroraMotorBase>();
        public int CurMoverGroup { get; set; }
        public bool CheckArrival { get; set; }


        public TargetPosType Movetype = TargetPosType.ABS;


        #region 새로운 버전
        public SeqMover()
        {
            Motors.Clear();
        }
        public SeqMover(List<AuroraMotorBase> motors)
        {
            Motors.Clear();
            foreach (var motor in motors) {
                Motors.Add(motor);
            }
        }

        public int SetMoveParam(double position, double tarSPD)
        {
            if (tarSPD > 0) {
                int res2 = 0;
                int res = 0;
                Motors.ForEach(x => {
                    res2 = x.SetTargetSPD(tarSPD);
                    if (res2 != 0) { res = res2; };

                    res2 = x.SetTargetPos(position, Movetype);
                    if (res2 != 0) { res = res2; };
                });
                if (res != 0) return res;
            } else {
                return (int)eMoverErrCode.TargetSPDIsZero;  // tarVel
            }

            return 0;
        }

        public int SetMoveParam(int motorIdx, double position)
        {
            var res = Motors[motorIdx].SetTargetPos(position, Movetype);
            if (res != 0) return res;

            return 0;
        }

        public int SetMoveParam(int motorIdx, double position, double tarSPD)
        {
            if (tarSPD > 0) {
                Motors[motorIdx].SetTargetSPD(tarSPD);
                var res = Motors[motorIdx].SetTargetPos(position, Movetype);
                if (res != 0) return res;
            } else {
                return (int)eMoverErrCode.TargetSPDIsZero;  // tarVel
            }

            return 0;
        }

        #region Move 부분
        public double GetTargetSPD(int motorIdx)
        {
            return Motors[motorIdx].GetTargetSPD();
        }

        #endregion


        #region 조깅 부분
        // 항상 단축을 가정하면, 여기도 인덱스 인자는 지워야겠는데...추후 검토..
        public int SetJogSpeed(int motorIdx, eJogSpeed jogSPD)
        {
            return Motors[motorIdx].SetJogSPD(jogSPD);
        }

        public int SetJogSpeed(eJogSpeed jogSPD)
        {
            foreach (var motor in Motors) {
                motor.SetJogSPD(jogSPD);
            }

            return 0;
        }

        public int Jog(int jogDir)
        {
            // 단축 조깅을 가정!!!
            moverState = eMoverState.Moving;

            Log.FuncI($"{Motors.FirstOrDefault().DeviceId}");
            return Motors.FirstOrDefault().Jog(jogDir);
        }

        //public int Jog(int motorIdx, int jogDir)
        //{
        //    moverState = eMoverState.Moving;
        //    var motorIndex = MotorIds[motorIdx];
        //    return Motors[motorIndex].Jog(jogDir);
        //}

        // 조깅은 무조건 단축을 가정하므로, 모터 인덱스 불필요
        public void StopJog()
        {
            Log.FuncI();
            moverState = eMoverState.Stopped;

            Log.FuncI($"{Motors.FirstOrDefault().DeviceId}");
            Motors.FirstOrDefault().StopJog();
        }

        //public void StopJog(int motorIdx)
        //{
        //    moverState = eMoverState.Stopped;
        //    var motorIndex = MotorIds[motorIdx];
        //    Motors[motorIndex].StopJog();
        //}
        #endregion

        #endregion

        //=============================================================

        #region Aurora Device 관련 메서드
        protected override int DoActivate(IDeviceConfig config)
        {
            moverState = eMoverState.Idle;
            return 0;
        }

        protected override int DoDeactivate()
        {
            return 0;
        }

        public class BaseConfig : IDeviceConfig
        {
            [Browsable(false)]
            public IConnConfig ConnConfig { get; set; } = null;
            public Position TeachOffset { get; set; } = new Position();
        }
        #endregion
    }
}