using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using arDev.Arduino;
using COMM;
using AR;


namespace arDev
{
    public class FakePLC : arDev.Arduino.DIO
    {
    
        private System.Threading.Thread thPLC;
        public bool Shutdown { get; set; } = false;

        public FakePLC()
        {
            VAR.Init(128);
        }

        ~FakePLC()
        {

            System.Threading.Tasks.Task.Run(() =>
            {
                //쓰레드가 살아잇다면 대기한다
                if (thPLC != null && thPLC.IsAlive)
                {
                    System.Threading.Thread.Sleep(100);
                }

                this.Close();
            });
        }


        private object lockobjdata = new object();
        public enum eEEPAddress
        {
            EEP_IOINTERVAL = 0,
            EEP_RESETCOUNT,
            EEP_DIREVH,
            EEP_DIREVL,
            EEP_OPTION,
            EEP_UPTIME,
        };

        public enum eCommand : byte
        {
            LOAD = 0,                   //EEPROM 불러오기
            SAVE,                       //EEPROM 저장
            RESET,                      //초기화
            PINGCHK,
            SET_PINMODE,                //PINMODE 설정
            SET_DOUTPUT,                //디지털출력설정(포트번호,값[1,0])
            SET_AOUTPUT,                //아날로그출력설정(포트GET_SETTING = 50,	//셋팅값 요청
            SET_FLAG,
            SET_EEPROM,
            SET_MANUALSPEED,
            GET_SETTING = 50,
            GUIDE_MOT = 90,                 //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
            SET_EEP_DIREV,
        };


        //public enum MotorType
        //{
        //    Left = 0,
        //    Right
        //}
        //public enum Direction
        //{
        //    CW = 0,
        //    CCW,
        //}
        //public enum RunType
        //{
        //    Stop = 0,
        //    Up,
        //    Dn
        //}

        public enum DIName
        {
            PINI_EMG = 0,
            PINI_BTN_1,
            PINI_BTN_2,
            PINI_BTN_3,
            PINI_BTN_4,
            PINI_OVERLOADL,
            PINI_OVERLOADR,
            PINI_EMPTY_07,
            PINI_EMPTY_08,
            PINI_BTN_ZUP,
            PINI_BTN_ZDN,
            PINI_LIMIT_LU,
            PINI_LIMIT_LD,
            PINI_LIMIT_RU,
            PINI_LIMIT_RD,
            PINI_STOP,
        }
        public enum DIPin
        {
            PINI_EMG = 30,
            PINI_BTN_1,
            PINI_BTN_2,
            PINI_BTN_3,
            PINI_BTN_4,
            PINI_OVERLOADL,
            PINI_OVERLOADR,
            PINI_EMPTY_07,
            PINI_EMPTY_08,
            PINI_BTN_ZUP,
            PINI_BTN_ZDN,
            PINI_LIMIT_LU,
            PINI_LIMIT_LD,
            PINI_LIMIT_RU,
            PINI_LIMIT_RD,
            PINI_STOP,

        }

        public enum DOName
        {
            PINO_GUIDEMOTOR_LDIR,
            PINO_GUIDEMOTOR_LRUN,
            PINO_GUIDEMOTOR_RDIR,
            PINO_GUIDEMOTOR_RRUN,
            PINO_EMPTY_04,
            PINO_EMPTY_05,
            PINO_EMPTY_06,
            PINO_EMPTY_07,
        }
        public enum DOPin
        {
            PINO_GUIDEMOTOR_LDIR = 22,
            PINO_GUIDEMOTOR_LRUN,
            PINO_GUIDEMOTOR_RDIR,
            PINO_GUIDEMOTOR_RRUN,
            PINO_EMPTY_04,
            PINO_EMPTY_05,
            PINO_EMPTY_06,
            PINO_EMPTY_07,
        }

        public enum Rundirection : byte
        {
            Stop = 0,
            Forward,
            Backward,
            Left,
            Right,
            EStop,
        }

        public enum ZMotDirection
        {
            Stop = 0,
            Up,
            Down
        }


        private bool Sendcommand(eCommand cmd, char p1, char p2)
        {
            return Sendcommand(cmd, (byte)p1, (byte)p2);
        }
        private bool Sendcommand(eCommand cmd, char p1, byte p2 = 0)
        {
            return Sendcommand(cmd, (byte)p1, p2);
        }
        private bool Sendcommand(eCommand cmd, byte p1 = 0, byte p2 = 0)
        {
            if (cmd != eCommand.PINGCHK)
            {
                if (cmd == eCommand.SET_FLAG)
                {
                    //플래그값은 공용변수로 변경
                    var idx = (eVarBool)p1;
                    VAR.BOOL[idx] = p2 != 0;
                    RaiseMessage(MessageType.Send, string.Format("PLC CMD:{0} [{1}]=>{2}", cmd, (eVarBool)p1, p2));
                }   
                else
                    RaiseMessage(MessageType.Send, string.Format("PLC CMD:{0}, P1:{1}, P2:{2}", cmd, p1, p2));
            }
            return Sendcommand((byte)cmd, p1, p2);
        }

        public Boolean GetValueI(DIName idx)
        {
            return GetValueI((byte)idx);
        }
        public Boolean GetValueO(DOName idx)
        {
            return GetValueO((byte)idx);
        }
        public Boolean GetFlag(int flag)
        {
            return VAR.BOOL[flag];
        }

        public Boolean GetFlag(COMM.eVarBool flag)
        {
            return VAR.BOOL[(int)flag];
        }

        public Boolean SetFlag(byte idx, Boolean value)
        {

            SetFlagTime[(int)idx] = DateTime.Now;    //플래그기록을 시도한 시간

            if (value == true)
                return Sendcommand(eCommand.SET_FLAG, idx, 1);
            else
                return Sendcommand(eCommand.SET_FLAG, idx, 0);
        }

        //public Boolean SetOpt_AD4Invert(Boolean value)
        //{
        //    var idx = (byte)PLCFlag.FLAG_ENABLE_AD4INVERT;
        //    SetFlagTime[idx] = DateTime.Now;    //플래그기록을 시도한 시간

        //    if (value == true)
        //        return Sendcommand(eCommand.SET_FLAG, idx, 1);
        //    else
        //        return Sendcommand(eCommand.SET_FLAG, idx, 0);
        //}
        //public Boolean SetLog_SpeedControl(Boolean value)
        //{
        //    var idx = (byte)PLCFlag.FLAG_ENABLE_LOG_SPEED;
        //    SetFlagTime[idx] = DateTime.Now;    //플래그기록을 시도한 시간

        //    if (value == true)
        //        return Sendcommand(eCommand.SET_FLAG, idx, 1);
        //    else
        //        return Sendcommand(eCommand.SET_FLAG, idx, 0);
        //}

      

        public Boolean SetFlag(eVarBool flag, Boolean value)
        {
            VAR.BOOL[flag] = value;
            return true;
        }

        public Boolean SetEEP(eEEPAddress address, byte value)
        {
            RaiseMessage(MessageType.Normal, string.Format("[M] Set EEP Rom Addr={0},Val={1}", address, value));
            return Sendcommand(eCommand.SET_EEPROM, (byte)address, value);
        }

        public Boolean SetOutput(byte pinNO, Boolean Value)
        {
            if (Value == true) return Sendcommand(eCommand.SET_DOUTPUT, pinNO, 1);
            else return Sendcommand(eCommand.SET_DOUTPUT, pinNO, 0);
        }

        public byte ApplySpeedH = 0;
        public byte ApplySpeedL = 0;
        public byte ApplySpeedC = 0;
        public byte ApplySpeedZ = 0;

        public DateTime SaveTime = DateTime.Parse("1982-11-23");


        public Boolean SetPinReverse(byte High, byte Low)
        {
            RaiseMessage(MessageType.Normal,
                string.Format("Pin Reverse H={0},L={1}", High, Low)
            );

            bool b1 = Sendcommand(eCommand.SET_EEPROM, (byte)eEEPAddress.EEP_DIREVH, High);
            bool b2 = Sendcommand(eCommand.SET_EEPROM, (byte)eEEPAddress.EEP_DIREVL, Low);
            return b1 && b2;
        }
        public Boolean SetMotorUpTime(byte value)
        {
            RaiseMessage(MessageType.Normal,
                string.Format("Motor Up Time Value={0}", value)
                );

            bool b1 = Sendcommand(eCommand.SET_EEPROM, (byte)eEEPAddress.EEP_UPTIME, value);
            return b1;
        }

        public Boolean SaveEEPROM()
        {
            RaiseMessage(MessageType.Normal,
                string.Format("Save EEPROM")
                );

            bool b1 = Sendcommand(eCommand.SAVE, 0);
            return b1;
        }
        public Boolean LoadEEPROM()
        {
            RaiseMessage(MessageType.Normal,
                string.Format("Load EEPROM")
                );

            bool b1 = Sendcommand(eCommand.LOAD, 0);
            return b1;
        }

        //public double ManualSpeed = 0.0;
        //public bool SetManualSpeed(double Percvalue)
        //{
        //    var Speed = (byte)((Percvalue / 100.0) * 255.0);
        //    ManualSpeed = Percvalue;
        //    // datamanager.COMCONTROLLER.Speak($"{Percvalue} 퍼센트 설정");
        //    RaiseMessage(MessageType.Normal,
        //      string.Format("Convert Speed Hold {0}%->{1}", Percvalue, Speed),
        //      false);

        //    return Sendcommand(eCommand.SET_MANUALSPEED, Speed);
        //}

        public DateTime LastPingTime = DateTime.Parse("1982-11-23");


        public bool SendPing()
        {
            LastPingTime = DateTime.Now;
            return Sendcommand(eCommand.PINGCHK, 0, 0);
        }





        public bool ZMot(ZMotDirection dir)
        {
            if (dir == ZMotDirection.Up)
                return Sendcommand(eCommand.GUIDE_MOT, 'A', 'P');    //up
            else if (dir == ZMotDirection.Down)
                return Sendcommand(eCommand.GUIDE_MOT, 'A', 'N');    //down
            else if (dir == ZMotDirection.Stop)
                return Sendcommand(eCommand.GUIDE_MOT, 'A', 'S');    //stop
            else return false;
        }
        public bool ZMot_Left(ZMotDirection dir)
        {
            if (dir == ZMotDirection.Up)
                return Sendcommand(eCommand.GUIDE_MOT, 'L', 'P');    //up
            else if (dir == ZMotDirection.Down)
                return Sendcommand(eCommand.GUIDE_MOT, 'L', 'N');    //down
            else if (dir == ZMotDirection.Stop)
                return Sendcommand(eCommand.GUIDE_MOT, 'L', 'S');    //stop
            else return false;

        }
        public bool ZMot_Right(ZMotDirection dir)
        {
            if (dir == ZMotDirection.Up)
                return Sendcommand(eCommand.GUIDE_MOT, 'R', 'P');    //up
            else if (dir == ZMotDirection.Down)
                return Sendcommand(eCommand.GUIDE_MOT, 'R', 'N');    //down
            else if (dir == ZMotDirection.Stop)
                return Sendcommand(eCommand.GUIDE_MOT, 'R', 'S');    //stop
            else return false;
        }

        /// <summary>
        /// 오버로드 또는 L이 활성화되되면 True를 반환함
        /// </summary>
        /// <returns></returns>
        public Boolean IsOverLoad()
        {
            if (GetValueI(DIName.PINI_OVERLOADL) || GetValueI(DIName.PINI_OVERLOADR)) return true;
            else return false;
        }
        public Boolean IsLimitUp()
        {
            if (GetValueI(DIName.PINI_LIMIT_LU) || GetValueI(DIName.PINI_LIMIT_RU)) return true;
            else return false;
        }
        public Boolean IsLimitDn()
        {
            if (GetValueI(DIName.PINI_LIMIT_LD) || GetValueI(DIName.PINI_LIMIT_RD)) return true;
            else return false;
        }

    }
}