using Aurora;
using Aurora.Util.HislogPlus;
using AuroraACS;
using AuroraIO;
using Hermes;
using ILSOS_PrismaticGun.Process;
using ILSOS_PrismaticGun.Settings;
using LiveChartsCore.SkiaSharpView.WPF;
using OpenCvSharp.Dnn;
using PAIX_NMF_DEV;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Cryptography.X509Certificates;
using System.Text;
using System.Threading.Tasks;

namespace ILSOS_PrismaticGun.Device.ACS
{
    public class PrismaticGunACSIO : IODevice
    {
        private TeachingPositionSetting _teachingSetting;
        private PrismaticGunACS _acs;
        public PrismaticGunACSIO(IAuroraEnvironment auroraEnv, string deviceId, bool isSimul, PrismaticGunACS aCS) : base(auroraEnv, deviceId, isSimul, aCS)
        {
            _acs = aCS;
            _teachingSetting = auroraEnv.SettingEntry[SettingIds.TeachingPos] as TeachingPositionSetting;
        }

        public int WriteDoBit(OutputIO index, bool bit) => _iOUnit.WriteDoBit((int)index, bit);
        public bool ReadDiBit(InputIO index) => _iOUnit.ReadDiBit((int)index);

        public bool JigUp(eStage stage)
        {
            if (stage is eStage.A) {
                return WriteDoBit(OutputIO.A_JIG_UP, true) + WriteDoBit(OutputIO.A_JIG_DOWN, false) == 0;
            } else {
                return WriteDoBit(OutputIO.B_JIG_UP, true) + WriteDoBit(OutputIO.B_JIG_DOWN, false) == 0;
            }
        }
        public bool JigDown(eStage stage)
        {
            if (stage is eStage.A) {
                return WriteDoBit(OutputIO.A_JIG_UP, false) + WriteDoBit(OutputIO.A_JIG_DOWN, true) == 0;
            } else {
                return WriteDoBit(OutputIO.B_JIG_UP, false) + WriteDoBit(OutputIO.B_JIG_DOWN, true) == 0;
            }
        }

        public bool CheckJigUp(eStage stage)
        {
            if (IsSimul)
                return true;

            if (stage is eStage.A) {
                return ReadDiBit(InputIO.A_JIG_UP_SEN) & !ReadDiBit(InputIO.A_JIG_DOWN_SEN);
            } else {
                return ReadDiBit(InputIO.B_JIG_UP_SEN) & !ReadDiBit(InputIO.B_JIG_DOWN_SEN);
            }
        }
        public bool CheckJigDown(eStage stage)
        {
            if (IsSimul)
                return true;

            if (stage is eStage.A) {
                return !ReadDiBit(InputIO.A_JIG_UP_SEN) & ReadDiBit(InputIO.A_JIG_DOWN_SEN);
            } else {
                return !ReadDiBit(InputIO.B_JIG_UP_SEN) & ReadDiBit(InputIO.B_JIG_DOWN_SEN);
            }
        }
        public bool CheckClampComp(eStage stage)
        {
            if (IsSimul)
                return true;

            var ret = true;
            if (stage is eStage.A) {
                ret &= ReadDiBit(InputIO.A_Y_CLAMP_PUSH_SEN);
                ret &= ReadDiBit(InputIO.A_X_CLAMP_PUSH_SHORT_SEN);
                ret &= ReadDiBit(InputIO.A_CYLINDER_UP_SEN);
            }
            else {
                ret &= ReadDiBit(InputIO.B_Y_CLAMP_PUSH_SEN);
                ret &= ReadDiBit(InputIO.B_X_CLAMP_PUSH_SHORT_SEN);
                ret &= ReadDiBit(InputIO.B_CYLINDER_UP_SEN);
            }
            return ret;
        }
        public bool CheckUnclampComp(eStage stage)
        {
            if (IsSimul)
                return true;

            var ret = true;
            if (stage is eStage.A) {
                ret &= ReadDiBit(InputIO.A_Y_CLAMP_BACK_SEN);
                ret &= ReadDiBit(InputIO.A_X_CLAMP_BACK_SHORT_SEN);
                ret &= ReadDiBit(InputIO.A_CYLINDER_DOWN_SEN);
            } else {
                ret &= ReadDiBit(InputIO.B_Y_CLAMP_BACK_SEN);
                ret &= ReadDiBit(InputIO.B_X_CLAMP_BACK_SHORT_SEN);
                ret &= ReadDiBit(InputIO.B_CYLINDER_DOWN_SEN);
            }
            return ret;
        }
        #region Laser IO Synario
        /// <summary>
        /// OutputIO.TRUMPF_LASER_EXT_ACTIVATION_LASER_ON_REQUEST_LASER >> On
        /// InputIO.TRUMPF_LASER_READY >> On
        /// OutputIO.TRUMPF_LASER_PROGRAM_No >> On
        /// OutputIO.TRUMPF_LASER_PSTART_STATICAL >> On
        /// InputIO.TRUMPF_LASER_READY >> Off
        /// InputIO.TRUMPF_LASER_PROG_ACTIVE >> On
        /// ---------running
        /// Output.TRUMPF_LASER_PSTART_STATICAL >> Off
        /// Input.TRUMPF_LASER_PROG_COMPLETED >> Off after 5sec
        /// </summary>
        public bool SetEnableLaser(bool on) => WriteDoBit(OutputIO.TRUMPF_LASER_EXT_ACTIVATION_LASER_ON_REQUEST_LASER, on) > 0;
        public bool CheckLaserReady() => ReadDiBit(InputIO.TRUMPF_LASER_READY);
        public bool SetLaserProgramNo(int no)
        {
            int ok = 0;
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_0, (no & (1 << 0)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_1, (no & (1 << 1)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_2, (no & (1 << 2)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_3, (no & (1 << 3)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_4, (no & (1 << 4)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_5, (no & (1 << 5)) != 0);
            ok += WriteDoBit(OutputIO.TRUMPF_LASER_PROGRAM_NO_BIT_6, (no & (1 << 6)) != 0);

            return ok == 0;
        }
        public bool SetLaserPStart(bool on) => WriteDoBit(OutputIO.TRUMPF_LASER_PSTART_STATICAL, on) > 0;
        public bool CheckLaserProgramActived() => ReadDiBit(InputIO.TRUMPF_LASER_PROG_ACTIVE);
        public bool CheckLaserProgramComp() => ReadDiBit(InputIO.TRUMPF_LASER_PROG_COMPLETED);

        public bool PilotLaser(eStage stage, bool on) => WriteDoBit(OutputIO.TRUMPF_LASER_PILOT_LASER_ON, on) == 0;
        public bool CheckPilotLaser(eStage stage) => ReadDiBit(InputIO.TRUMPF_LASER_PILOT_LASER_IS_ON);
        #endregion


        public enum InputIO
        {
            MAIN_LASER_MC_01_ON,
            MAIN_LASER_MC_02_ON,
            EMPTY_02,
            MOTOR_MC_01_ON,
            MOTOR_MC_02_ON,
            ELECTRIC_BOX_TEMP_ALARM,
            TRUMPF_LASER_PROG_COMPLETED,
            TRUMPF_LASER_READY,
            TRUMPF_LASER_PROG_ACTIVE,
            TRUMPF_LASER_PILOT_LASER_IS_ON,
            TRUMPF_LASER_WARNING_LAMP_IS_ON,
            EMPTY_11,
            A_OUTPUT_VISION_READY,
            A_JUDGE,
            OPTIC_MODULE_SPARE_01,
            OPTIC_MODULE_SPARE_02,
            MAIN_CHILLER_Leak_Sensor,
            EMPTY_17,
            B_OUTPUT_VISION_READY,
            B_JUDGE,
            OPTIC_MODULE_SPARE_03,
            OPTIC_MODULE_SPARE_04,
            LASER_IO_INPUT_01_TO_PLC,
            LASER_IO_INPUT_02_TO_PLC,
            LASER_IO_INPUT_03_TO_PLC,
            LASER_IO_INPUT_04_TO_PLC,
            FAN_1_ALARM,
            FAN_2_ALARM,
            FAN_3_ALARM,
            FAN_4_ALARM,
            FAN_5_ALARM,
            FAN_6_ALARM,
            A_JIG_UP_SEN,
            A_JIG_DOWN_SEN,
            A_X_CLAMP_PUSH_SHORT_SEN,
            A_X_CLAMP_BACK_SHORT_SEN,
            A_Y_CLAMP_PUSH_SEN,
            A_Y_CLAMP_BACK_SEN,
            A_Z_AXIS_POSITION_SENSOR,
            EMPTY_41,
            B_JIG_UP_SEN,
            B_JIG_DOWN_SEN,
            B_X_CLAMP_PUSH_SHORT_SEN,
            B_X_CLAMP_BACK_SHORT_SEN,
            B_Y_CLAMP_PUSH_SEN,
            B_Y_CLAMP_BACK_SEN,
            B_Z_AXIS_POSITION_SENSOR,
            EMPTY_49,
            A_CYLINDER_STOPPER_DOWN_SEN,
            A_CYLINDER_STOPPER_UP_SEN,
            A_CYLINDER_STOPPER_TOP_PUSH_SEN,
            A_CYLINDER_STOPPER_TOP_BACK_SEN,
            A_CYLINDER_STOPPER_BOTTOM_PUSH_SEN,
            A_CYLINDER_STOPPER_BOTTOM_BACK_SEN,
            A_CYLINDER_UP_SEN,
            A_CYLINDER_DOWN_SEN,
            B_CYLINDER_STOPPER_DOWN_SEN,
            B_CYLINDER_STOPPER_UP_SEN,
            B_CYLINDER_STOPPER_TOP_PUSH_SEN,
            B_CYLINDER_STOPPER_TOP_BACK_SEN,
            B_CYLINDER_STOPPER_BOTTOM_PUSH_SEN,
            B_CYLINDER_STOPPER_BOTTOM_BACK_SEN,
            B_CYLINDER_UP_SEN,
            B_CYLINDER_DOWN_SEN,
        }

        public enum OutputIO
        {
            TRUMPF_LASER_EXT_ACTIVATION_LASER_ON_REQUEST_LASER,
            TRUMPF_LASER_PROGRAM_NO_BIT_0,
            TRUMPF_LASER_PROGRAM_NO_BIT_1,
            TRUMPF_LASER_PROGRAM_NO_BIT_2,
            TRUMPF_LASER_PSTART_STATICAL,
            TRUMPF_LASER_PROGRAM_NO_BIT_3,
            TRUMPF_LASER_PROGRAM_NO_BIT_4,
            TRUMPF_LASER_PILOT_LASER_ON,
            TRUMPF_LASER_FAULT_EXT,
            TRUMPF_LASER_PROGRAM_NO_BIT_5,
            TRUMPF_LASER_PROGRAM_NO_BIT_6,
            EMPTY_11,
            A_INPUT_PLC_READY,
            A_INPUT_WELDING_TRIGGER,
            A_INPUT_WELDING_STOP,
            A_INPUT_JUDGE_ACK,
            MAIN_LASER_ON_LAMP_ON,
            EMPTY_17,
            B_INPUT_PLC_READY,
            B_INPUT_WELDING_TRIGGER,
            B_INPUT_WELDING_STOP,
            B_INPUT_JUDGE_ACK,
            LASER_IO_OUTPUT_01_TO_PLC,
            LASER_IO_OUTPUT_02_TO_PLC,
            LASER_IO_OUTPUT_03_TO_PLC,
            LASER_IO_OUTPUT_04_TO_PLC,
            EMPTY_26,
            EMPTY_27,
            WELDING_X_01_BREAK_ON_RELAY,
            WELDING_Y_01_BREAK_ON_RELAY,
            WELDING_X_02_BREAK_ON_RELAY,
            WELDING_Y_02_BREAK_ON_RELAY,
            A_JIG_UP,
            A_JIG_DOWN,
            A_X_CLAMP_PUSH,
            A_X_CLAMP_BACK,
            A_Y_CLAMP_PUSH,
            A_Y_CLAMP_BACK,
            EMPTY_38,
            EMPTY_39,
            B_JIG_UP,
            B_JIG_DOWN,
            B_X_CLAMP_PUSH,
            B_X_CLAMP_BACK,
            B_Y_CLAMP_PUSH,
            B_Y_CLAMP_BACK,
            EMPTY_46,
            EMPTY_47,
            A_SOL_STOPPER_DOWN,
            A_SOL_STOPPER_UP,
            A_SOL_STOPPER_TOP_PUSH,
            A_SOL_STOPPER_TOP_BACK,
            A_SOL_STOPPER_BOTTOM_PUSH,
            A_SOL_STOPPER_BOTTOM_BACK,
            A_SOL_UP,
            A_SOL_DOWN,
            B_SOL_STOPPER_DOWN,
            B_SOL_STOPPER_UP,
            B_SOL_STOPPER_TOP_PUSH,
            B_SOL_STOPPER_TOP_BACK,
            B_SOL_STOPPER_BOTTOM_PUSH,
            B_SOL_STOPPER_BOTTOM_BACK,
            B_SOL_UP,
            B_SOL_DOWN,
        }
    }
}