using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using AR;

namespace Project
{
    public partial class FMain
    {
        public Boolean PICKER_ON(eWorkPort target, eSMStep cmdIndex)
        {
            UInt16 idx = 1;
            var mv = PUB.Result.vModel;
            var mc = PUB.Result.mModel;
            var funcName = System.Reflection.MethodBase.GetCurrentMethod().Name;
            var seqTime = PUB.sm.seq.GetTime(cmdIndex);
            var msgType = (Class.eStatusMesage)target;
            var iLockX = PUB.iLock[(int)eAxis.PX_PICK];
            var iLockZ = PUB.iLock[(int)eAxis.PZ_PICK];
            
            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];

            //option check
            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
            var OPT_CameraOff = PUB.OPT_CAMERA(target);
            var OPT_BYPASS = PUB.OPT_BYPASS();

            //####################################################
            //###	인터락 확인
            //####################################################
            Boolean MotMoveX = PUB.mot.IsMotion((int)eAxis.PX_PICK);
            Boolean MotMoveZ = PUB.mot.IsMotion((int)eAxis.PZ_PICK);
            if (iLockX.IsEmpty() == false && MotMoveX)
            {
                var locklistX = MOT.GetActiveLockList(eAxis.PX_PICK, iLockX);
                PUB.mot.MoveStop("ILock(" + string.Join(",", locklistX) + ")", (int)eAxis.PX_PICK);
            }

            if (iLockZ.IsEmpty() == false && MotMoveZ)
            {
                var locklistZ = MOT.GetActiveLockList(eAxis.PZ_PICK, iLockZ);
                PUB.mot.MoveStop("ILock(" + string.Join(",", locklistZ) + ")", (int)eAxis.PZ_PICK);
            }

            //####################################################
            //###	작업시작
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                PUB.log.Add($"[{target}] 피커 ON 작업시작");
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	ON 위치로 이동
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                if (iLockX.IsEmpty() == false) return false;
                if (iLockZ.IsEmpty() == false) return false;
                var Pos = MOT.GetPXPos(ePXLoc.PICKON);
                var PosZ = MOT.GetPZPos(ePZLoc.READY);
                if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
                PUB.log.Add($"[{target}] 피커 ON X,Y 준비위치 확인");
                DIO.SetPickerVac(true);
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	Z축을 내린다.
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                var PortRDY = PUB.flag.get(eVarBool.FG_RDY_PORT_PC);
                if (PortRDY == false) return false;
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	Z축을 내린다.
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                // if (iLockX.IsEmpty() == false) return false;
                if (iLockZ.IsEmpty() == false) return false;
                var Pos = MOT.GetPZPos(ePZLoc.PICKON);
                var PosMatch = MOT.getPositionMatch(Pos);
                //var PortRDY = PUB.flag.get(eVarBool.RDY_PORT_PC);
                //if (PosMatch==false ) return false;

                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
                VAR.I32[eVarInt32.PickOnCount] += 1;
                PUB.flag.set(eVarBool.FG_PK_ITEMON, true, funcName);
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	Z축을 올린다.
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                //if (iLockX.IsEmpty() == false) return false;
                if (iLockZ.IsEmpty() == false) return false;
                var Pos = MOT.GetPZPos(ePZLoc.READY);
                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
                PUB.flag.set(eVarBool.FG_PK_ITEMON, true, funcName);
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	프린트부착위치가 상/하가 아니라면 추가적인 회전이 필요하다 - 210207
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                var vData = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
                if (vData.PrintPositionData == "4") // 왼쪽찍기
                {
                    if (vData.ReelSize == eCartSize.Inch7)
                    {
                        vData.NeedCylinderForward = false;
                        double targerPos = 0.0;
                        if (target == eWorkPort.Left)  //left printer
                        {
                            vData.PositionAngle = -90; //90도 회전한다
                        }
                        else
                        {
                            vData.PositionAngle = -90;
                        }
                    }
                    else
                    {
                        //13inch
                        vData.NeedCylinderForward = true;
                        if (target == eWorkPort.Left)  //left printer
                        {
                            vData.PositionAngle = -180;
                        }
                        else
                        {
                            vData.PositionAngle = 0;
                        }
                    }
                }
                else if (vData.PrintPositionData == "6") //오른쪽찍기
                {
                    if (vData.ReelSize == eCartSize.Inch7)
                    {
                        vData.NeedCylinderForward = false;
                        if (target == eWorkPort.Left)  //left printer
                        {
                            vData.PositionAngle = 90; //90도 회전한다
                        }
                        else
                        {
                            vData.PositionAngle = 90; //90도 회전한다
                        }
                    }
                    else
                    {
                        //13inch
                        vData.NeedCylinderForward = true;
                        double targerPos = 0.0;
                        if (target == eWorkPort.Left)  //left printer
                        {
                            vData.PositionAngle = 0;
                        }
                        else
                        {
                            vData.PositionAngle = 180;
                        }
                    }
                }
                else
                {
                    vData.NeedCylinderForward = false; //상하에 붙이는건 실린더를 원위치해야함
                    vData.PositionAngle = 0;
                }
                PUB.sm.seq.Update(cmdIndex);
                return false;
            }


            //####################################################
            //###	바코드에의한 자동 회전
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {
                //속도값만 취한다
                var thpos = MOT.GetPTPos(ePTLoc.READY);

                // Baseangle 값으로 변경  210126 - qr의 각도가잇다면 그것이 기준이됨
                double baseAngle = 0;
                string baseSource = "F";
                var vdata = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
                if (vdata.BaseAngle(out string msg, out Class.KeyenceBarcodeData bcd))
                {
                    baseAngle = bcd.Angle;
                    baseSource = bcd.barcodeSource; //230504 각도
                    PUB.log.AddI($"[{target}] 각도산출내용:{msg},바코드:{bcd.Data},ID:{vdata.RID}"); //210602
                }
                else if (PUB.Result.DryRun)
                {
                    PUB.log.AddAT($"[{target}] 드라이런으로 인해 각도를 적용하지 않음");
                }
                else
                {
                    PUB.log.AddE($"[{target}] base ange error : {msg},ID:{vdata.RID}");
                }

                var addangle = baseSource == "R" ? SETTING.Data.RearBarcodeRotate : SETTING.Data.FrontBarcodeRotate;
                var rotAngle = baseAngle + addangle + vdata.PositionAngle;
                PUB.log.AddI($"[{target}]-소스:{baseSource} 회전값(Base:{baseAngle}+추가:{addangle}+비젼:{vdata.PositionAngle}={rotAngle})");

                int dir = -1;
                while (true)
                {
                    if (rotAngle > 360.0)
                        rotAngle = rotAngle - 360.0;  //한반퀴 더 도는것은 역 처리한다
                    else break;
                }
                //rotAngle += 90; //비젼이 90도 돌아가잇으니 다시 적용필요함 //상단이위로가도록 함
                if (rotAngle > 180)
                {
                    rotAngle = 360 - rotAngle;
                    dir = 1;
                }

                PUB.log.AddI($"[{target}] 회전(최종) [{rotAngle}도,방향:{dir}],RID:{vdata.RID}");

                if (target == eWorkPort.Left)
                    PUB.Result.ItemDataL.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
                else
                    PUB.Result.ItemDataR.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다

                var curtheta = PUB.mot.GetActPos((int)eAxis.Z_THETA);
                var newPos = curtheta + (dir * rotAngle);
                PUB.log.Add($"회전전 모터 위치 : {curtheta}, 대상위치:{newPos},속도:{thpos.Speed},가속:{thpos.Acc}");

                if (target == eWorkPort.Left)
                    VAR.DBL[(int)eVarDBL.ThetaPositionL] = newPos;
                else
                    VAR.DBL[(int)eVarDBL.ThetaPositionR] = newPos;

                //if (ByPassMode == false)
                //{
                //바이패스에서도 추가 회전을 한다
                MOT.Move(eAxis.Z_THETA, newPos, thpos.Speed, thpos.Acc, false);
                //}
                //else PUB.log.AddAT($"bypass 로 인해 회전을 하지 않습니다");

                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            //####################################################
            //###	
            //####################################################
            if (PUB.sm.seq.Get(cmdIndex) == idx++)
            {

                PUB.sm.seq.Update(cmdIndex);
                return false;
            }

            return true;
        }

    }
}