using Aurora;
using Aurora.Api;
using Aurora.Util.HislogPlus;
using AuroraLaserScanner;
using AuroraPLC;
using ILSOS_CCW_H52A.Device;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Reactive.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using WeldingCommon;
using WeldingCommon.Data;
using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;

namespace ILSOS_CCW_H52A.Sequences.ProcessObjects
{
    public class ProcessManager
    {
        private static ProcessManager _Instance;
        public static ProcessManager Instance {
            get {
                if (_Instance is null) {
                    _Instance = new ProcessManager();
                }
                return _Instance;
            }
        }
        private IAuroraEnvironment _env;
        private PLCControllerCCWH52A _plc;
        private ScannerCCWH52A _scanner;

        private bool usedAnalyzerLog = false;
        private readonly Logger _log = new Logger("ProcessManager");

        public const double compensateEncoderReset = 0.015;  // 엔코더 리셋 보상 각도 설정(70도/sec 기준 약 0.015도)
        public const int RotaryJigCount = 16;
        public const int RotaryMaxAngle = 360;
        public double DegreePerJig { get => RotaryMaxAngle / RotaryJigCount; }
        public double HalfDegreePerJig { get => DegreePerJig / 2; }

        //public ConcurrentQueue<ReceivedCellInfo>
        public void Init(IAuroraEnvironment env)
        {
            _env = env;
            _plc = _env.DeviceManager[DeviceIds.PLCDevice] as PLCControllerCCWH52A;
            _scanner = _env.DeviceManager[DeviceIds.Scanner] as ScannerCCWH52A;
        }
        public IEnumerable<bool> CheckRotaryState()
        {
            List<bool> rotaryStates = new List<bool>();
            for (int i = 0; i < RotaryJigCount; i++) {
                var rotaryProcessState = _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + i).data;
                rotaryStates.Add(rotaryProcessState);
                //if (rotaryProcessState == false)
                //    _plc.ToggleBit(eBitInput.PLC_USE_WELD_JIG_1 + i, eBitOutput.PC_WELD_COMPLETE_1 + i);
            }

            if (usedAnalyzerLog) {
                StringBuilder sb = new StringBuilder();
                rotaryStates.ForEach(x => sb.Append($"{x} "));
                _log.D($"Check Rotary State : {sb.ToString()}");
            }

            return rotaryStates;
        }

        public bool GetRotaryCanExist(int jigNo)
        {
            if (jigNo == 0)
                jigNo = 1;

            if (jigNo <= RotaryJigCount)
                return _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + (jigNo - 1)).data;
            else
                return false;
        }

        /// <summary>
        /// Rotary의 현재 위치정보를 0~360로 전달함
        /// </summary>
        public double GetRotaryCurrentPosition(bool isView360 = true)
        {
            try {
                double finalValue = Convert.ToDouble(_plc.ReadDWord(eWordInput.PLC_CURRENT_POS_1).data / 100_000f);
                finalValue += _scanner.Config.RotaryEncoderOffset;

                if (isView360) {
                    if (RotaryMaxAngle <= finalValue) {
                        while (RotaryMaxAngle <= finalValue) {
                            finalValue -= RotaryMaxAngle;
                        }
                    }
                    else if (finalValue < 0) {
                        while (finalValue < 0) {
                            finalValue += RotaryMaxAngle;
                        }
                    }
                }

                return finalValue;
            }
            catch {
                return -9999.9999;
            }
        }

        /// <summary>
        /// 중심 기준 가장 가까운 지그 번호(내림 연산)
        /// <param name="HalfDegreePerJig">내림 카운팅을 중심 기준 값</param>
        /// </summary>
        /// <returns></returns>
        public int getCurrentJigNo() => (int)((GetRotaryCurrentPosition(isView360:true) + HalfDegreePerJig) / DegreePerJig) + 1;

        /// <summary>
        /// 360도 이상으로 준다고하면 Welding Count를 가져올 수 있음 2word = 2147483.647 / 3600 = 596 >> 596*16 = 9_536까지 카운팅 가능함
        /// <param name="HalfDegreePerJig">내림 카운팅을 중심 기준 값</param>
        /// </summary>
        /// <returns></returns>
        public int getWeldingCount() => (int)((GetRotaryCurrentPosition(isView360:false) + HalfDegreePerJig) / DegreePerJig);

    }
}