using Aurora.Api;
using Hermes;
using ILSOS_PrismaticGun.Device;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Controls;
using static ILSOS_PrismaticGun.Device.PLCControllerPrismaticGun;

namespace ILSOS_PrismaticGun.Sequences.SubSequence.PLCInterface
{
    public class SeqAutoStart
    {
        static readonly Logger Log = new Logger("SeqAutoStart");

        const string SEQ_ENTER = "SEQ_ENTER";
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";
        const string SEQ_CHECK_AUTO_REQUEST = "Check PLC Auto Request";
        const string SEQ_AUTO_REQUEST_ACK = "PLC Auto Request Ack";
        const string SEQ_COMPLETE = "Complete";

        const int PLC_TIMEOUT = 60 * 1000;        // sec, Timeout은 시퀀스 정지가 아니라 타임아웃 시간마다 로그만 남기도록 한다
        const int NODE_SLEEP = 100;

        private static eBitInput _request;
        private static eBitOutput _requestAck;

        private static PLCControllerPrismaticGun _PLC;
        public static SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(1000, true);

            sb.AddAction(SEQ_ENTER, SequenceEnter);
            sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
            sb.AddAction(SEQ_CHECK_AUTO_REQUEST, CheckAutoRequest);
            sb.AddAction(SEQ_AUTO_REQUEST_ACK, AutoRequestAck);
            sb.AddAction(SEQ_COMPLETE, Complete);

            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_CHECK_AUTO_REQUEST] > sb[SEQ_AUTO_REQUEST_ACK] > sb[SEQ_COMPLETE] > sb.Final);

            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            //sb.Draw("SeqAutoStart.pdf");

            return sb;
        }

        private static SequenceActionResult SequenceEnter(SequenceContext context, string id, SequenceActionResult param)
        {
            var recv = ((eBitInput input, eBitOutput output))param.Param;
            _request = recv.input;
            _requestAck = recv.output;

            if (_PLC is null)
                _PLC = context.Devices[DeviceIds.PLCDevice] as PLCControllerPrismaticGun;

            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
        {
            if (!_PLC.IsActivated)
                return null;

            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckAutoRequest(SequenceContext context, string id, SequenceActionResult param)
        {
            var res = context.RetryUntilSuccess(() => _PLC.ReadBit(_request).data, PLC_TIMEOUT, interval: 100, true);
            if (res == E2.TIMEOUT) {
                Log.FuncE($"Check PLC AutoRequest Timeout");
                return null;
            }

            return SequenceAction.Ok();
        }

        private static SequenceActionResult AutoRequestAck(SequenceContext context, string id, SequenceActionResult param)
        {
            var res = context.RetryUntilSuccess(() => _PLC.ReadBit(_request).data, PLC_TIMEOUT, interval: 100, true);
            if (res == E2.TIMEOUT) {
                Log.FuncE($"Check PLC AutoRequest Timeout");
                return null;
            }

            _PLC.WriteBit(_requestAck, true);
            res = context.RetryUntilSuccess(() => _PLC.ReadBit(_request).data, PLC_TIMEOUT, interval: 100, false);
            if (res == E2.TIMEOUT) {
                Log.FuncE($"Check PLC AutoRequest Timeout");
                return null;
            }
            _PLC.WriteBit(_requestAck, false);

            return SequenceAction.Ok();
        }

        private static SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
        {
            return SequenceAction.Ok(true);
        }

        private static void OnStopped(SequenceContext context)
        {
        }

        private static void OnForceError(SequenceContext context, string arg2)
        {
        }
    }
}