using log4net;
using System;
using System.Collections;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace DIT.Framework.Module
{
    /// <summary>
    /// Model : PMC-2HS-232
    /// Home : www.autonics.com
    /// </summary>
    public class Autonics_PMC_2HS : SerialModule
    {
        #region 파라미터

        /// <summary>
        /// Exception Log
        /// </summary>
        private ILog ExceptionLog = LogManager.GetLogger("Autonics_PMC_2HS_Exception");
        
        /// <summary>
        /// Exception Log를 기록하기 위한 메서드
        /// </summary>
        /// <param name="msg">Error Message</param>
        private void WriteExceptionLog(string msg)
        {
            if (UseExceptionLog)
                ExceptionLog.Debug(msg);
        }

        /// <summary>
        /// X축의 Status
        /// </summary>
        public MotorStatus Status_X { get { return status_x; } private set { status_x = value; } }
        private MotorStatus status_x;

        /// <summary>
        /// Y축의 Status
        /// </summary>
        public MotorStatus Status_Y { get { return status_y; } private set { status_y = value; } }
        private MotorStatus status_y;

        /// <summary>
        /// Parallel의 Status
        /// </summary>
        public ParallelStatus Status_Parallel { get { return status_parallel; } private set { status_parallel = value; } }
        private ParallelStatus status_parallel;

        /// <summary>
        /// X축 현재위치
        /// </summary>
        public int PosX { get { return posx; } private set { posx = value; } }
        private int posx;

        /// <summary>
        /// Y축 현재위치
        /// </summary>
        public int PosY { get { return posy; } private set { posy = value; } }
        private int posy;

        /// <summary>
        /// X축 현재 Speed
        /// </summary>
        public int SpeedX { get { return speedx; } private set { speedx = value; } }
        private int speedx;

        /// <summary>
        /// Y축 현재 Speed
        /// </summary>
        public int SpeedY { get { return speedy; } private set { speedy = value; } }
        private int speedy;
        #endregion

        /// <summary>
        /// Autonics_PMC_2HS의 생성자.
        /// </summary>
        /// <param name="PortName"> Port이름 ex)COM6, COM13 </param>
        /// <param name="BaudRate"> 전송속도 ex)4800, 9600, 19200 </param>
        /// <param name="DataBits"> 바이트 당 데이터 비트의 표준길이 ex)5, 6, 7, 8 </param>
        /// <param name="Parity">패리티 검사 프로토콜 ex)Ports.Parity.None </param>
        /// <param name="StopBits">비트당 정지비트의 표준 개수 ex)Ports.StopBits.One </param>
        /// <param name="Handshake">직렬 전송을 위한 핸드셰이킹 ex)Ports.Handshake.None</param>
        public Autonics_PMC_2HS(string PortName, int BaudRate, int DataBits = 8, Parity Parity = Parity.None, StopBits StopBits = StopBits.One, Handshake Handshake = Handshake.None) 
            : base(PortName, BaudRate, DataBits, Parity, StopBits, Handshake)
        {
            SetEncodeType(Encoding.ASCII);
            Status_X = new MotorStatus();
            Status_Y = new MotorStatus();
            Status_Parallel = new ParallelStatus();
        }

        /// <summary>
        /// Serial에서 받은 명령어 처리 메서드
        /// </summary>
        /// <param name="recvData">Recv받은 Data</param>
        private void OnRecvData(byte[] recvData)
        {
            try
            {
                string[] str = Encoding.ASCII.GetString(recvData).Split(' ');

                switch (str[0])
                {
                    case "ERD":
                        string[] proc_str;
                        proc_str = str[1].Split('X');
                        int ia = int.Parse(proc_str[1]);

                        BitArray bits = new BitArray(new int[] { ia });
                        break;
                    case "INR":
                        // X모터값 
                        if (str[1].Contains("X"))
                        {
                            string x_motor = str[1].Split('X')[1].Split(',')[0];
                            string parallel = str[2].Split('\r')[0];
                            Status_X.StatusChange(x_motor);
                            Status_Parallel.StatusChange(parallel);
                        }
                        // Y모터값
                        else if (str[1].Contains("Y"))
                        {
                            string y_motor = str[1].Split('Y')[1].Split(',')[0];
                            string parallel = str[2].Split('\r')[0];
                            Status_Y.StatusChange(y_motor);
                            Status_Parallel.StatusChange(parallel);
                        }
                        break;
                    case "SPD":
                        string proc_data = Encoding.Default.GetString(recvData);
                        string[] speeds = proc_data.Split('D');
                        string[] speed = speeds[1].Split(',');
                        int spd = 0;
                        if (int.TryParse(speed[0], out spd)) SpeedX = spd;
                        if (int.TryParse(speed[1], out spd)) SpeedY = spd;
                        break;
                    case "POS":
                        string[] poss = str[1].Split(',');
                        PosX = Convert.ToInt32(poss[0], 16);
                        PosY = Convert.ToInt32(poss[1].Split('\r')[0], 16);
                        break;
                }
            }
            catch(Exception ex)
            {
                WriteExceptionLog(ex.Message);
            }
        }

        #region 명령어
        /// <summary>
        /// X축 HOME
        /// </summary>
        public void Home_X()
        {
            string cmd = $"HOM X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 HOME
        /// </summary>
        public void Home_Y()
        {
            string cmd = $"HOM Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 HOME Stop
        /// </summary>
        public void Home_X_Stop()
        {
            string cmd = $"OGE X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 HOME Stop
        /// </summary>
        public void Home_Y_Stop()
        {
            string cmd = $"OGE Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 실제 위치 클리어
        /// </summary>
        public void X_Pos_Clear()
        {
            string cmd = $"CLR X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 실제 위치 클리어
        /// </summary>
        public void Y_Pos_Clear()
        {
            string cmd = $"CLR Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 내부 프로그램 지정 번지부터 실행
        /// </summary>
        /// <param name="value">번지</param>
        public void Proc_X_Run(int value)
        {
            string cmd = $"PRG X{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 내부 프로그램 지정 번지부터 실행
        /// </summary>
        /// <param name="value">번지</param>
        public void Proc_Y_Run(int value)
        {
            string cmd = $"PRG Y{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 내부 프로그램 지정 번지 실행
        /// </summary>
        /// <param name="value">번지</param>
        public void Proc_X_Step(int value)
        {
            string cmd = $"PST X{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 내부 프로그램 지정 번지 실행
        /// </summary>
        /// <param name="value">번지</param>
        public void Proc_Y_Step(int value)
        {
            string cmd = $"PST Y{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        ///  X축 내부 프로그램 일시정지
        /// </summary>
        public void Proc_X_Stop()
        {
            string cmd = $"PSP X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        ///  Y축 내부 프로그램 일시정지
        /// </summary>
        public void Proc_Y_Stop()
        {
            string cmd = $"PSP Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 속도 설정
        /// </summary>
        /// <param name="value">속도</param>
        public void Set_Speed_X(int value)
        {
            string cmd = $"SPD {value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 속도 설정
        /// </summary>
        /// <param name="value">속도</param>
        public void Set_Speed_Y(int value)
        {
            string cmd = $"SPD ,{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 +위치로 이동
        /// </summary>
        public void Move_X_Plus()
        {
            string cmd = $"JOG +X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 -위치로 이동
        /// </summary>
        public void Move_X_Minus()
        {
            string cmd = $"JOG -X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 +위치로 이동
        /// </summary>
        public void Move_Y_Plus()
        {
            string cmd = $"JOG +Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 -위치로 이동
        /// </summary>
        public void Move_Y_Minus()
        {
            string cmd = $"JOG -Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 절대이동
        /// </summary>
        /// <param name="value">이동 위치</param>
        public void Move_X_ABS(int value)
        {
            string cmd = $"PAB {value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 절대이동
        /// </summary>
        /// <param name="value">이동 위치</param>
        public void Move_Y_ABS(int value)
        {
            string cmd = $"PAB ,{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 정지
        /// </summary>
        public void Stop_X()
        {
            string cmd = $"PSP X{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// Y축 정지
        /// </summary>
        public void Stop_Y()
        {
            string cmd = $"PSP Y{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// 드라이브 속도 변경
        /// </summary>
        /// <param name="value">1~4</param>
        public void Speed_Setting(int value)
        {
            string cmd = $"SSM X{value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// 드라이브 속도 변경
        /// </summary>
        /// <param name="x_value">X 축 속도</param>
        /// <param name="y_value">Y 축 속도</param>
        public void Speed_Setting(int x_value, int y_value)
        {
            string cmd = $"SPD {x_value},{y_value}{CR}";
            SendData(Encoding.ASCII.GetBytes(cmd));
        }

        /// <summary>
        /// X축 에러 값 요청
        /// </summary>
        public void Request_Error_X()
        {
            string cmd = $"ERD X{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// Y축 에러 값 요청
        /// </summary>
        public void Request_Error_Y()
        {
            string cmd = $"ERD Y{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// X축 현재 상태 요청
        /// </summary>
        public void Request_State_X()
        {
            string cmd = $"INR X{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// Y축 현재 상태 요청
        /// </summary>
        public void Request_State_Y()
        {
            string cmd = $"INR Y{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// PMC 본체의 버전 정보 요청
        /// </summary>
        public void Request_Ver()
        {
            string cmd = $"VER{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// X축과 Y축의 현재 위치 요청
        /// </summary>
        public void Request_Pos()
        {
            string cmd = $"POS{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        /// <summary>
        /// X축과 Y축의 현재 속도 요청
        /// </summary>
        public void Request_Speed()
        {
            string cmd = $"SPD{CR}";
            byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));

            if (recvData == null)
                return;

            OnRecvData(recvData);
        }

        #endregion

        #region Motor의 상태를 확인하기 위한 Class
        /// <summary>
        /// Motor의 상태 클래스
        /// </summary>
        public class MotorStatus
        {
            #region 프로퍼티
            /// <summary>
            /// 서보 위치 결정 완료
            /// </summary>
            public bool Inpos { get; private set; }

            /// <summary>
            /// 서보 알람
            /// </summary>
            public bool Alarm { get; private set; }

            /// <summary>
            /// 엔코더 Z상
            /// </summary>
            public bool Stop2 { get; private set; }

            /// <summary>
            /// 원점
            /// </summary>
            public bool Stop1 { get; private set; }

            /// <summary>
            /// 원점 근접
            /// </summary>
            public bool Stop0 { get; private set; }

            /// <summary>
            /// +방향 리미트
            /// </summary>
            public bool Lmt_Plus { get; private set; }

            /// <summary>
            /// -방향 리미트
            /// </summary>
            public bool Lmt_Minus { get; private set; }

            /// <summary>
            /// 긴급정지
            /// </summary>
            public bool EMG { get; private set; }

            /// <summary>
            /// 드라이브 상태(1 : 드라이브 중 0 :종료)
            /// </summary>
            public bool DRV { get; private set; }

            /// <summary>
            /// 에러 발생 상태(1 : 에러)
            /// </summary>
            public bool ERR { get; private set; }
            /// <summary>
            /// 자동 원점복귀 상태 (1:동작중)
            /// </summary>
            public bool HOM { get; private set; }
            /// <summary>
            /// 드라이브 동작, 원점출력 동작 등(1:ON)
            /// </summary>
            public bool RUN { get; private set; }
            /// <summary>
            /// 일시 정지중(1 : 일시정지중)
            /// </summary>
            public bool PAUSE { get; private set; }
            /// <summary>
            /// (CN3) 의 nDRIVE 신호(1:ON)
            /// </summary>
            public bool DRIVE { get; private set; }

            /// <summary>
            /// (CN3)의 nError 신호(1:ON)
            /// </summary>
            public bool ERROR { get; private set; }

            /// <summary>
            /// (CN4, 5)의 nOUT0 신호(1:ON)
            /// </summary>
            public bool OUT0 { get; private set; }

            #endregion

            /// <summary>
            /// Status 변경
            /// </summary>
            /// <param name="data"></param>
            public void StatusChange(string data)
            {

                BitArray bit = new BitArray(new int[] { Convert.ToInt32(data, 16) });

                Stop0 = bit[0];
                Stop1 = bit[1];
                Stop2 = bit[2];
                Inpos = bit[3];
                Lmt_Plus = bit[4];
                Lmt_Minus = bit[5];
                Alarm = bit[6];
                EMG = bit[7];
                DRV = bit[8];
                ERR = bit[9];
                HOM = bit[10];
                RUN = bit[11];
                PAUSE = bit[12];
                OUT0 = bit[13];
                DRIVE = bit[14];
                ERROR = bit[15];

            }
        }

        /// <summary>
        /// Parallel 상태 클래스
        /// </summary>
        public class ParallelStatus
        {
            #region
            /// <summary>
            /// 원점 복귀 시작 명령
            /// </summary>
            public bool Home { get; private set; }

            /// <summary>
            /// 드라이브 시작명령
            /// </summary>
            public bool Strobe { get; private set; }

            /// <summary>
            /// X축 지정/스캔Y+
            /// </summary>
            public bool X { get; private set; }

            /// <summary>
            /// Y축지정/스캔Y-
            /// </summary>
            public bool Y { get; private set; }

            /// <summary>
            /// 레지스터 지정0/ 런+/스캔+
            /// </summary>
            public bool RegSL0 { get; private set; }

            /// <summary>
            /// 레지스터 지정1/ 런-/스캔+
            /// </summary>
            public bool RegSL1 { get; private set; }

            /// <summary>
            /// 레지스터 지정 2/ 드라이브 속도 지정0
            /// </summary>
            public bool RegSL2 { get; private set; }

            /// <summary>
            /// 레지스터 지정3/ 드라이브 속도 지정1
            /// </summary>
            public bool RegSL3 { get; private set; }

            /// <summary>
            /// 레지스터 지정4/ 스캔 지정
            /// </summary>
            public bool RegSL4 { get; private set; }

            /// <summary>
            /// 레지스터 지정5/ 드라이브 정지
            /// </summary>
            public bool RegSL5 { get; private set; }

            /// <summary>
            /// 동작 모드 지정0
            /// </summary>
            public bool Mode0 { get; private set; }

            /// <summary>
            /// 동작 모드 지정1
            /// </summary>
            public bool Mode1 { get; private set; }

            /// <summary>
            /// 0 : 비동작 1:동작
            /// </summary>
            public bool PowerOnHome { get; private set; }

            /// <summary>
            /// 0 : 비동작 1:동작
            /// </summary>
            public bool PowerOnProgram { get; private set; }
            #endregion

            /// <summary>
            /// Status 변경
            /// </summary>
            /// <param name="data"></param>
            public void StatusChange(string data)
            {
                BitArray bit = new BitArray(new int[] { Convert.ToInt32(data, 16) });
                Home = bit[0];
                Strobe = bit[1];
                X = bit[2];
                Y = bit[3];
                Mode0 = bit[4];
                Mode1 = bit[5];
                RegSL0 = bit[8];
                RegSL1 = bit[9];
                RegSL2 = bit[10];
                RegSL3 = bit[11];
                RegSL4 = bit[12];
                RegSL5 = bit[13];
            }


        }
        #endregion
    }
}