// WeldingCommon/Devices/ACS/ScannerACS.cs
// Gun(PrismaticGunACS.cs) 기반으로 Scanner용으로 통합
// 변경점:
//   1. 네임스페이스/클래스명 변경 (PrismaticGunACS → ScannerACS)
//   2. MOTF 메서드 3개 추가 (MOTFStart/Stop/CheckMOTFComp)
//   3. 모터 취득 try-catch null-safe 적용
//   4. TeachingPosition 체크 로직 단순화 (Scanner는 X2축만 사용)
// 26.04.06 NDY
using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using AuroraACS;
using ACS.SPiiPlusNET;
using Hermes;
using System.Windows;
using WeldingCommon.Settings;
using AuroraOCT;
using WeldingCommon.Device.ACS;
namespace WeldingCommon.Devices.ACS
{
    // ── 인터페이스 ────────────────────────────────────────────────────────────
    // Gun의 IPrismaticGunACS 기반 + MOTF 3개 추가
    public interface IScannerACS
    {
        bool IsActivated();

        // 홈
        bool AllAxisHomeStart();
        bool AllAxisHomeStop();
        bool CheckAllAxisHome();

        // MOTF (Scanner 전용 추가 - Gun에 없음)
        // TODO: 이정인 선임 변수 맵 수신 후 주석 해제하여 사용
        bool MOTFStart();
        bool MOTFStop();
        bool CheckMOTFComp();

        // OneShot (Gun과 동일)
        bool SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2);
        bool OneShotStart();
        bool OneShotStop();
        bool CheckOneShotComp();

        // LineShot (Gun과 동일)
        bool SetLineShot(double corePower, double ringPower,
                         double startPosX, double endPosX,
                         double startPosY, double endPosY,
                         double velocity, double acc);
        bool LineShotStart();
        bool LineShotStop();
        bool CheckLineShotComp();

        // Welding (Gun과 동일)
        bool SetWeldingVel(double acc, double svel, double cvel);
        bool SetWeldingPos(double startPosX, double startPosY,
                           double endPosX, double endPosY,
                           double camOffsetX, double camOffsetY);
        bool SetWeldingArc(double point1, double point2, double point3, double point4);
        bool SetWeldingType(eOutType type);
        bool SetWeldingPulse(double coreMaxPower, double coreMinPower,
                             double ringMaxPower, double ringMinPower);
        bool SetLaserOnOff(double onPosX, double onOffSet,
                           double offPosX, double offOffSet,
                           double camOffsetX, double camOffsetY);
        bool SetRamppingOffParameter(double pos, double overlap, double endpower,
                                     double camOffsetX, double camOffsetY);
        bool SetRamppingOnParameter(double overlap, double startpower);
        bool WeldingStart();
        bool WeldingStop();
        bool CheckWeldingComp();

        // Teaching Position (Gun과 동일)
        bool SetWeldingTeachingPosition1(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition2(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition3(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition4(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition5(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition6(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition7(double PosX, double PosY, double camOffsetX, double camOffsetY);
        bool SetWeldingTeachingPosition8(double PosX, double PosY, double camOffsetX, double camOffsetY);

        // 레이저 (Gun과 동일)
        bool SetLaserIOUse(bool on);
        bool SetLCILserOn(bool on);
        bool SetWeldingAxes(int axisXnum, int axisYnum);
        bool IsLaserOn();

        // 알람 (Gun과 동일)
        bool ResetAlarm();
        void AllAxisServoOff();
    }

    // ── 구현 ──────────────────────────────────────────────────────────────────
    public partial class ScannerACS : ACSDevice, IScannerACS
    {
        // Gun과 동일한 필드
        private ACSDeviceSetting _setting;

        // Scanner는 Stage X (X2) 1축만 사용
        // Gun은 X1, X2, Y1, Y2, Z 5축 사용
        private ACSMotor MotorStageX; // AxisX2 = Scanner Stage X

        public MotionVariable _motorVariable;

        public bool HasHeavyAlarm { get; private set; }
        public bool HasLightAlarm { get; private set; }
        public int[] HaveAlarmCodes { get => _HaveAlarmCodes; }
        private int[] _HaveAlarmCodes = new int[11];

        public ScannerACS(bool isSimulation, bool useTerminateUMD = false)
            : base(isSimulation, useTerminateUMD)
        {
            _motorVariable = new MotionVariable();
        }

        protected override int DoActivate(IDeviceConfig config)
        {
            if (base.DoActivate(config) != E1.OK)
                return E2.ABORTED;

            var env = Application.Current.AuroraEnv();

            // TODO: Scanner용 SettingIds 확정 후 교체
            // Gun: _setting = env.SettingEntry[SettingIds.ACS] as ACSDeviceSetting;
            // _setting = env.SettingEntry[ScannerSettingIds.ACS] as ACSDeviceSetting;

            // Scanner는 Stage X (X2) 1축만 취득
            // Gun은 X1, X2, Y1, Y2, Z 전부 취득
            // null-safe: 변수 맵 수신 전 예외 방지
            // TODO: 이정인 선임 변수 맵 수신 후 축 번호 검증
            try { MotorStageX = env.DeviceManager[CommonDeviceIds.AxisX2] as ACSMotor; }
            catch { MotorStageX = null; }

            SetMonitoringService(UpdateACSParam, 50);
            StartMonitoringService();

            return E1.OK;
        }

        private void UpdateACSParam()
        {
            // Scanner는 Stage X만 모니터링
            // Gun은 X1, X2, Y1, Y2, Z 전부 모니터링
            if (MotorStageX != null)
            {
                _motorVariable.X2AxisPosition = MotorStageX.GetActualPos();
                _motorVariable.X2InPosition = MotorStageX.IsInpos();
                _motorVariable.X2AxisVelocity = MotorStageX.GetFeedbackVelocity();
                _motorVariable.X2AxisAcceleration = MotorStageX.GetAcceleration();
                _motorVariable.IsHome = MotorStageX.GetServoStatus() == 1;
            }

            // 알람 상태 갱신 (Gun과 동일)
            HasHeavyAlarm = ReadVariableInt(HeavyAlarm) == 1;
            HasLightAlarm = ReadVariableInt(LightAlarm) == 1;
            ReadVariableIntArrRef(AlarmCodes, ref _HaveAlarmCodes, ProgramBuffer.ACSC_NONE, 0, 10);
        }

        protected override int DoDeactivate()
        {
            StopMonitoringService();
            return base.DoDeactivate();
        }

        // ── 홈 (Gun과 동일) ───────────────────────────────────────────────────
        bool IScannerACS.AllAxisHomeStart()
        {
            if (RunBuffer((ProgramBuffer)eBuffer.All_Axis_Home))
            {
                Log.D("AllAxisHomeStart >> Complete");
                return true;
            }
            Log.D("AllAxisHomeStart >> Fail");
            return false;
        }

        bool IScannerACS.AllAxisHomeStop()
        {
            StopBuffer((ProgramBuffer)eBuffer.All_Axis_Home);
            Log.D("AllAxisHomeStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckAllAxisHome()
            => ReadVariableInt(iAllAxisHomeComplete) > 0;

        // ── MOTF (Scanner 전용 추가 - Gun에 없음) ────────────────────────────
        // TODO: 이정인 선임 변수 맵 수신 후 버퍼 번호 및 변수명 교체
        bool IScannerACS.MOTFStart()
        {
            if (IsSimul) return true;
            if (RunBuffer((ProgramBuffer)eBuffer.MOTF_Start))
            {
                Log.I("MOTFStart >> Complete");
                return true;
            }
            Log.D("MOTFStart >> Fail");
            return false;
        }

        bool IScannerACS.MOTFStop()
        {
            StopBuffer((ProgramBuffer)eBuffer.MOTF_Start);
            Log.D("MOTFStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckMOTFComp()
        {
            if (IsSimul) return true;
            return ReadVariableInt(iMOTFComplete) > 0;
        }

        // ── OneShot (Gun과 동일) ──────────────────────────────────────────────
        bool IScannerACS.SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2)
        {
            if (WriteRealVariable(rOneShotTime, msecShotTime) &
                WriteRealVariable(rOneShotCoreVoltage, secPhzShotPulse1) &
                WriteRealVariable(rOneShotRingVoltage, secPhzShotPulse2))
            {
                Log.D("SetOneShot >> Complete");
                return true;
            }
            Log.D("SetOneShot >> Fail");
            return false;
        }

        bool IScannerACS.OneShotStart()
        {
            if (RunBuffer((ProgramBuffer)eBuffer.Welding_OneShot))
            {
                Log.D("OneShotStart >> Complete");
                return true;
            }
            Log.D("OneShotStart >> Fail");
            return false;
        }

        bool IScannerACS.OneShotStop()
        {
            IScannerACS motion = this;
            motion.SetLCILserOn(false);
            StopBuffer((ProgramBuffer)eBuffer.Welding_OneShot);
            Log.D("OneShotStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckOneShotComp()
            => ReadVariableInt(iOneShotComplete) > 0;

        // ── LineShot (Gun과 동일) ─────────────────────────────────────────────
        bool IScannerACS.SetLineShot(double corePower, double ringPower,
                                     double startPosX, double endPosX,
                                     double startPosY, double endPosY,
                                     double velocity, double acc)
        {
            if (WriteRealVariable(rLineWeldingLaserOnX, startPosX) &
                WriteRealVariable(rLineWeldingLaserOnY, startPosY) &
                WriteRealVariable(rLineWeldingLaserOffX, endPosX) &
                WriteRealVariable(rLineWeldingLaserOffY, endPosY) &
                WriteRealVariable(rLineWeldingVel, velocity) &
                WriteRealVariable(rLineWeldingAcc, acc) &
                WriteRealVariable(rLineWeldingCoreVoltage, corePower) &
                WriteRealVariable(rLineWeldingRingVoltage, ringPower))
            {
                Log.D("SetLineShot >> Complete");
                return true;
            }
            Log.D("SetLineShot >> Fail");
            return false;
        }

        bool IScannerACS.LineShotStart()
        {
            if (RunBuffer((ProgramBuffer)eBuffer.Welding_Line))
            {
                Log.D("LineShotStart >> Complete");
                return true;
            }
            Log.D("LineShotStart >> Fail");
            return false;
        }

        bool IScannerACS.LineShotStop()
        {
            IScannerACS motion = this;
            motion.SetLCILserOn(false);
            StopBuffer((ProgramBuffer)eBuffer.Welding_Line);
            Log.D("LineShotStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckLineShotComp()
            => ReadVariableInt(iLineWeldingComplete) > 0;

        // ── Welding (Gun과 동일) ──────────────────────────────────────────────
        bool IScannerACS.WeldingStart()
        {
            if (IsSimul) return true;
            if (RunBuffer((ProgramBuffer)eBuffer.Welding_AllRound))
            {
                Log.I("WeldingStart >> Complete");
                return true;
            }
            Log.D("WeldingStart >> Fail");
            return false;
        }

        bool IScannerACS.WeldingStop()
        {
            IScannerACS motion = this;
            motion.SetLCILserOn(false);
            StopBuffer((ProgramBuffer)eBuffer.Welding_AllRound);
            Log.D("WeldingStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckWeldingComp()
        {
            if (IsSimul) return true;
            return ReadVariableInt(iWeldingComplete) > 0;
        }

        bool IScannerACS.SetWeldingVel(double acc, double svel, double cvel)
        {
            if (WriteRealVariable(rWeldingAcc, acc) &
                WriteRealVariable(rWeldingSVel, svel) &
                WriteRealVariable(rWeldingCVel, cvel))
            {
                Log.D("SetWeldingVel >> Complete");
                return true;
            }
            Log.D("SetWeldingVel >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingPos(double startPosX, double startPosY,
                                        double endPosX, double endPosY,
                                        double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingStartPosX, startPosX + camOffsetX) &
                WriteRealVariable(rWeldingStartPosY, startPosY + camOffsetY) &
                WriteRealVariable(rWeldingEndPosX, endPosX + camOffsetX) &
                WriteRealVariable(rWeldingEndPosY, endPosY + camOffsetY))
            {
                Log.D("SetWeldingPos >> Complete");
                return true;
            }
            Log.D("SetWeldingPos >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingArc(double point1, double point2, double point3, double point4)
        {
            if (WriteRealVariable(rWeldingEdgePointRad1, point1) &
                WriteRealVariable(rWeldingEdgePointRad2, point2) &
                WriteRealVariable(rWeldingEdgePointRad3, point3) &
                WriteRealVariable(rWeldingEdgePointRad4, point4))
            {
                Log.D("SetWeldingArc >> Complete");
                return true;
            }
            Log.D("SetWeldingArc >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingType(eOutType type)
        {
            if (WriteVariableInt(iALaserShotMode, (int)type))
            {
                Log.D("SetWeldingType >> Complete");
                return true;
            }
            Log.D("SetWeldingType >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingPulse(double coreMaxPower, double coreMinPower,
                                          double ringMaxPower, double ringMinPower)
        {
            if (WriteRealVariable(rWeldingCorePowerMax, coreMaxPower) &
                WriteRealVariable(rWeldingCorePowerMin, coreMinPower) &
                WriteRealVariable(rWeldingRingPowerMax, ringMaxPower) &
                WriteRealVariable(rWeldingRingPowerMin, ringMinPower))
            {
                Log.D("SetWeldingPulse >> Complete");
                return true;
            }
            Log.D("SetWeldingPulse >> Fail");
            return false;
        }

        bool IScannerACS.SetLaserOnOff(double onPosX, double onOffSet,
                                        double offPosX, double offOffSet,
                                        double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rLaserONPosX, onPosX + camOffsetX) &
                WriteRealVariable(rLaserONOffset, onOffSet) &
                WriteRealVariable(rLaserOFFPosX, offPosX + camOffsetX) &
                WriteRealVariable(rLaserOFFOffset, offOffSet))
            {
                Log.D("SetLaserOnOff >> Complete");
                return true;
            }
            Log.D("SetLaserOnOff >> Fail");
            return false;
        }

        bool IScannerACS.SetRamppingOffParameter(double pos, double overlap, double endpower,
                                                  double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rRampingOFFStartPosX, pos + camOffsetX) &
                WriteRealVariable(rRampingOFFOverlapDist, overlap) &
                WriteRealVariable(rRampingOFFEndPower, endpower))
            {
                Log.D("SetRamppingOffParameter >> Complete");
                return true;
            }
            Log.D("SetRamppingOffParameter >> Fail");
            return false;
        }

        bool IScannerACS.SetRamppingOnParameter(double overlap, double startpower)
        {
            if (WriteRealVariable(rRampingONOverlapDist, overlap) &
                WriteRealVariable(rRampingONStartPower, startpower))
            {
                Log.D("SetRamppingOnParameter >> Complete");
                return true;
            }
            Log.D("SetRamppingOnParameter >> Fail");
            return false;
        }

        // ── Teaching Position (Gun과 동일) ────────────────────────────────────
        bool IScannerACS.SetWeldingTeachingPosition1(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition1PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition1PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition1 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition1 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition2(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition2PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition2PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition2 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition2 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition3(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition3PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition3PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition3 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition3 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition4(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition4PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition4PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition4 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition4 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition5(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition5PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition5PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition5 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition5 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition6(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition6PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition6PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition6 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition6 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition7(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition7PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition7PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition7 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition7 >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingTeachingPosition8(double PosX, double PosY, double camOffsetX, double camOffsetY)
        {
            if (WriteRealVariable(rWeldingPosition8PosX, PosX + camOffsetX) &
                WriteRealVariable(rWeldingPosition8PosY, PosY + camOffsetY))
            {
                Log.D($"SetWeldingTeachingPosition8 ({PosX}/{PosY}) >> Complete");
                return true;
            }
            Log.D("SetWeldingTeachingPosition8 >> Fail");
            return false;
        }

        // ── 레이저 (Gun과 동일) ───────────────────────────────────────────────
        bool IScannerACS.SetLaserIOUse(bool on)
        {
            if (WriteRealVariable(iLaserUse, on ? 1 : 0))
            {
                Log.D($"SetLaserIOUse {on} >> Complete");
                return true;
            }
            Log.D("SetLaserIOUse >> Fail");
            return false;
        }

        bool IScannerACS.SetLCILserOn(bool on)
        {
            if (WriteRealVariable(iAStageLCType, on ? 1 : 0))
            {
                Log.D($"SetLCILserOn {on} >> Complete");
                return true;
            }
            Log.D("SetLCILserOn >> Fail");
            return false;
        }

        bool IScannerACS.SetWeldingAxes(int axisXnum, int axisYnum)
        {
            if (WriteVariableInt(iXAxisNumber, axisXnum) &
                WriteVariableInt(iYAxisNumber, axisYnum))
            {
                Log.D("SetWeldingAxes >> Complete");
                return true;
            }
            Log.D("SetWeldingAxes >> Fail");
            return false;
        }

        bool IScannerACS.IsLaserOn()
        {
            if (!IsActivated || !IsConnected) return false;
            return ReadVariableInt(IsLaserOn) > 0;
        }

        // ── 알람 (Gun과 동일) ─────────────────────────────────────────────────
        bool IScannerACS.ResetAlarm()
        {
            TerminalCommand("FCLEAR ALL");
            return WriteVariableInt(AlarmReset, 1);
        }

        void IScannerACS.AllAxisServoOff()
        {
            if (!IsActivated || !IsConnected) return;
            SetMotorDisableAll();
        }

        bool IScannerACS.IsActivated() => IsActivated;
    }
}