using System;
using System.Collections.Generic;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using arCtl;
using static Project.StateMachine;
using COMM;
using AR;
namespace Project
{

    public partial class fMain
    {
        private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e)
        {
            if (e.MsgType == arDev.arRS232.MessageType.Normal)

                PUB.logagv.AddE(e.Message);
            else if (e.MsgType == arDev.arRS232.MessageType.Normal)

                PUB.logagv.Add(e.Message);
            else if (e.MsgType == arDev.arRS232.MessageType.Recv)
            {
                if (e.Message.Substring(1).StartsWith("STS") == false)
                    PUB.logagv.Add("AGV-RX", e.Message);
            }
            else if (e.MsgType == arDev.arRS232.MessageType.Send)
                PUB.logagv.Add("AGV-TX", e.Message);
            else
            {

                PUB.logagv.Add(e.MsgType.ToString(), e.Message);
            }
        }

        ePosition ParsePosition(int tag, out string dirBW)
        {
            var tagstr = tag.ToString();
            var tagno = tagstr.Substring(0, tagstr.Length - 1);

            if (tag == PUB.setting.TAGNOT) { dirBW = "0"; return ePosition.NOT; }

            else if (tag == PUB.setting.TAG_QA_QC) { dirBW = "0"; return ePosition.QA_QC; }
            else if (tag == PUB.setting.TAG_QC_F1) { dirBW = "0"; return ePosition.QC_F1; }
            else if (tag == PUB.setting.TAG_F1_F2) { dirBW = "0"; return ePosition.F1_F2; }
            else if (tag == PUB.setting.TAG_F2_F3) { dirBW = "0"; return ePosition.F2_F3; }
            else if (tag == PUB.setting.TAG_F3_F4) { dirBW = "0"; return ePosition.F3_F4; }
            else if (tag == PUB.setting.TAG_F4_F5) { dirBW = "0"; return ePosition.F4_F5; }

            else if (tag == PUB.setting.TAGQAB) { dirBW = "0"; return ePosition.QA; }
            else if (tag == PUB.setting.TAGQCB) { dirBW = "0"; return ePosition.QC; }
            else if (tag == PUB.setting.TAGF1B) { dirBW = "0"; return ePosition.F1; }
            else if (tag == PUB.setting.TAGF2B) { dirBW = "0"; return ePosition.F2; }
            else if (tag == PUB.setting.TAGF3B) { dirBW = "0"; return ePosition.F3; }
            else if (tag == PUB.setting.TAGF4B) { dirBW = "0"; return ePosition.F4; }
            else if (tag == PUB.setting.TAGF5B) { dirBW = "0"; return ePosition.F5; }
            //else if (tag == PUB.setting.TAGQAA) { dirBW = "1"; return ePosition.QA; }
            //else if (tag == PUB.setting.TAGCHA) { dirBW = "1"; return ePosition.CHARGE; }
            else if (tag == PUB.setting.TAGQAA) { dirBW = "1"; return ePosition.QA; }
            else if (tag == PUB.setting.TAGQCA) { dirBW = "1"; return ePosition.QC; }
            else if (tag == PUB.setting.TAGF1A) { dirBW = "1"; return ePosition.F1; }
            else if (tag == PUB.setting.TAGF2A) { dirBW = "1"; return ePosition.F2; }
            else if (tag == PUB.setting.TAGF3A) { dirBW = "1"; return ePosition.F3; }
            else if (tag == PUB.setting.TAGF4A) { dirBW = "1"; return ePosition.F4; }
            else if (tag == PUB.setting.TAGF5A) { dirBW = "1"; return ePosition.F5; }
            else if (tag == PUB.setting.TAGPOT) { dirBW = "0"; return ePosition.POT; }
            else
            {
                if (tag > 9350 && tag < 9400)
                {
                    dirBW = "0"; return ePosition.QC_F1;
                }
                else if (tag > 9250 && tag < 9300)
                {
                    dirBW = "0"; return ePosition.QA_QC;
                }
                else if (tag > 9000 && tag < 9100)
                {
                    dirBW = "0"; return ePosition.NOT;
                }
                else
                {
                    dirBW = "0"; return ePosition.NONE;
                }

            }
        }


        bool _charging = false;
        private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
        {
            switch (e.DataType)
            {
                case arDev.Narumi.DataType.STS:
                    {
                        //마크센서 확인
                        var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
                        var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
                        var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
                        var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
                        //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
                        VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
                        // PUB.AGV.signal.mark_sensor = PUB.AGV.signal.mark_sensor;
                        VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
                        VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;

                        if (PUB.AGV.signal.mark_sensor == false)
                        {
                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
                            {
                                VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
                                VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
                                PUB.log.Add($"마크센서off를 설정");
                            }
                        }
                        else
                        {
                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
                            {
                                VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
                                VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
                                PUB.log.Add($"마크센서off를 해제");
                            }
                        }


                        //차징상태변경
                        if (_charging != PUB.AGV.system1.Battery_charging)
                        {
                            if (PUB.AGV.system1.Battery_charging)
                            {
                                VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
                                PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
                            }
                            _charging = PUB.AGV.system1.Battery_charging;
                        }

                        //배터리충전상태
                        if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
                        {
                            PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
                            VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
                        }
                        //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
                        PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;

                        if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                        {
                            if (PUB.AGV.error.Charger_pos_error)
                            {
                                PUB.Speak(Lang.충전기위치오류);
                            }
                            VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
                        }

                        if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
                        {
                            //현재 활성화된 위치를 꺼준다
                            if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
                            {
                                var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
                                if (ts.TotalSeconds >= 2)
                                {
                                    ctlPos1.SetPositionDeActive();
                                    PUB.log.Add($"현재 활성위치를 해제 함");
                                }
                            }

                        }

                        //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
                        if (PUB.AGV.system1.agv_stop)
                            VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;

                        if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
                        {
                            if (PUB.AGV.signal.mark_sensor)
                            {
                                //현재위치를 확정한다
                                var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
                                if (curact == false)
                                {
                                    PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
                                    ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
                                    ctlPos1.SetDirection("");
                                    ctlPos1.Invalidate();
                                }
                            }
                            VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
                        }
                    }
                    break;
                case arDev.Narumi.DataType.TAG:
                    {
                        //자동 실행 중이다.

                        PUB.log.Add($"RFID값에서 위치정보를 추출할 수 있도록 해야한다");

                        PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();

                        var curpos = ParsePosition(PUB.AGV.data.TagNo, out string dirForward);
                        if (curpos != PUB.Result.CurrentPos)
                        {
                            PUB.log.Add($"현재위치변경 {PUB.Result.CurrentPos} -> {curpos}");
                            PUB.Result.CurrentPos = curpos;
                        }

                        PUB.Result.CurrentPosCW = dirForward;
                        ctlPos1.SetPositionDeActive();
                        ctlPos1.SetPosition(PUB.Result.CurrentPos);
                        ctlPos1.SetDirection(dirForward);
                        ctlPos1.Invalidate();

                        //pot not를 보면 일단 바로 멈추게한다
                        if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
                        {
                            PUB.AGV.AGVMoveStop("TAG:pot/not 발견으로 즉시 멈춤");
                        }

                        //자동, 상하차 모드일때  RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
                        if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
                            PUB.Result.CurrentPos == PUB.Result.TargetPos &&
                            PUB.Result.TargetPos != ePosition.NONE &&
                            (PUB.sm.RunStep == ERunStep.GODOWN ||
                            PUB.sm.RunStep == ERunStep.GOUP ||
                            PUB.sm.RunStep == ERunStep.GOHOME ||
                            PUB.sm.RunStep == ERunStep.GOCHARGE))
                        {
                            if (PUB.AGV.data.Sts == 'F' && dirForward == "0")    //아래로 내려오고있음
                            {
                                PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
                                PUB.Speak( Lang.다음마크위치에서정지합니다);
                            }
                            else if (PUB.AGV.data.Sts == 'B' && dirForward == "1")
                            {
                                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = true;
                                PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
                                PUB.Speak(Lang.다음마크위치에서정지합니다);
                            }
                        }

                    }
                    break;
                case arDev.Narumi.DataType.ACK:
                    PUB.logagv.Add($"AGV_[ACK]Receive : {PUB.AGV.ACKData}");
                    break;
                default:
                    PUB.logagv.Add($"AGV_DataReceive : {e.DataType}");
                    break;

            }

        }

    }
}