using SA_LTT;
using SA_LTT.Info.WaferInfo;
using System;
using System.Drawing;
using System.Threading;
using System.Windows.Forms;
using static SA_LTT.Info.WaferInfo.WaferInfoManager;
using static SA_LTT.Module.Robot;

namespace SA_LTT_UI.Viewer
{
    public partial class RobotViewer : Form
    {
        enum MoveSteps
        {
            Wait,

            Get,
            GetWait,

            Put,
            PutWait,

            End
        }

        MainFrame _mainFrame;
        Thread t_UIUpdate;
        Thread t_Move;
        int mappingPort = 1;

        DateTime _tactTimeCheck = DateTime.Now;
        TimeSpan _mappingTime = new TimeSpan();
        
        bool _updateCheck;
        private MoveSteps _moveStep;

        protected override CreateParams CreateParams
        {
            get
            {
                CreateParams MyCp = base.CreateParams;
                MyCp.ExStyle |= 0x02000000;

                return MyCp;
            }
        }

        public RobotViewer(MainFrame mainFrame)
        {
            InitializeComponent();

            _mainFrame = mainFrame;
            StageComboBoxInit();

            t_UIUpdate = new Thread(UIUpdateTh);
            t_UIUpdate.Start();

            t_Move = new Thread(MoveThread);
            t_Move.Start();
        }

        private void StageComboBoxInit()
        {
            string[] stageList = Enum.GetNames(typeof(StageList));

            cbb_Stage.Items.Clear();

            cbb_Stage.Items.AddRange(stageList);

            cbb_Stage.SelectedIndex = 0;

            cbb_StartStage.Items.Clear();

            cbb_StartStage.Items.AddRange(stageList);

            cbb_StartStage.SelectedIndex = 0;

            cbb_EndStage.Items.Clear();

            cbb_EndStage.Items.AddRange(stageList);

            cbb_EndStage.SelectedIndex = 0;
        }

        private void SlotComboBoxRefresh(int stageIndex)
        {
            cbb_Slot.Items.Clear();
            switch(stageIndex)
            {
                case 1:
                    {
                        for(int i = 0; i < 25; i++)
                        {
                            cbb_Slot.Items.Add(WaferNumbers.A1 + i);
                        }
                        break;
                    }
                case 2:
                    {
                        for (int i = 0; i < 25; i++)
                        {
                            cbb_Slot.Items.Add(WaferNumbers.B1 + i);
                        }
                        break;
                    }
                default:
                    {
                        cbb_Slot.Items.Add(1);
                        break;
                    }
            }

            cbb_Slot.SelectedIndex = 0;
        }

        private void StartSlotComboBoxRefresh(int stageIndex)
        {
            cbb_StartSlot.Items.Clear();
            switch (stageIndex)
            {
                case 1:
                    {
                        for (int i = 0; i < 25; i++)
                        {
                            cbb_StartSlot.Items.Add(WaferNumbers.A1 + i);
                        }
                        break;
                    }
                case 2:
                    {
                        for (int i = 0; i < 25; i++)
                        {
                            cbb_StartSlot.Items.Add(WaferNumbers.B1 + i);
                        }
                        break;
                    }
                default:
                    {
                        cbb_StartSlot.Items.Add(1);
                        break;
                    }
            }

            cbb_StartSlot.SelectedIndex = 0;
        }

        private void EndSlotComboBoxRefresh(int stageIndex)
        {
            cbb_EndSlot.Items.Clear();
            switch (stageIndex)
            {
                case 1:
                    {
                        for (int i = 0; i < 25; i++)
                        {
                            cbb_EndSlot.Items.Add(WaferNumbers.A1 + i);
                        }
                        break;
                    }
                case 2:
                    {
                        for (int i = 0; i < 25; i++)
                        {
                            cbb_EndSlot.Items.Add(WaferNumbers.B1 + i);
                        }
                        break;
                    }
                default:
                    {
                        cbb_EndSlot.Items.Add(1);
                        break;
                    }
            }

            cbb_EndSlot.SelectedIndex = 0;
        }

        private void UIUpdateTh()
        {
            while (_mainFrame.equipment.IsDisposed == false)
            {
                Thread.Sleep(10);

                if (_updateCheck == false)
                {
                    _updateCheck = true;
                    UIUpdate();
                }
            }
        }

        private void UIUpdate()
        {
            if (InvokeRequired)
            {
                BeginInvoke(new UIUpdateDelegate(UIUpdate));
                return;
            }
            else
            {
                try
                {
                    lb_PortName.Text = _mainFrame.equipment.robot.PortName;
                    lb_PortName.BackColor = _mainFrame.equipment.robot.IsOpen ? Color.Lime : Color.Red;

                    lb_PowerState.Text = $"Power State - {_mainFrame.equipment.robot.PowerStatus}";
                    lb_PowerState.BackColor = _mainFrame.equipment.robot.IsServoOn ? Color.Lime : Color.Red;
                    tb_ErrorCode.Text = _mainFrame.equipment.robot.AlarmCode;
                    tb_ErrorDescription.Text = _mainFrame.equipment.robot.AlarmDescription;

                    tb_PositionT.Text = _mainFrame.equipment.robot.PositionT.ToString();
                    tb_PositionZ.Text = _mainFrame.equipment.robot.PositionZ.ToString();
                    tb_PositionR.Text = _mainFrame.equipment.robot.PositionR.ToString();
                    tb_PositionF.Text = _mainFrame.equipment.robot.PositionF.ToString();

                    lb_WaferDetected.BackColor = _mainFrame.equipment.robot.IsWaferExist ? Color.Lime : Color.Red;
                    lb_Vacuum.BackColor = _mainFrame.equipment.robot.IsVacuumOn ? Color.Lime : Color.Red;
                    lb_IsRun.BackColor = _mainFrame.equipment.robot.IsRun ? Color.Lime : Color.Red;
                    lb_IsRunEnable.BackColor = _mainFrame.equipment.robot.IsRunEnable ? Color.Lime : Color.Red;

                    tb_MappingTime.Text = $"{_mappingTime.TotalSeconds:F3} s";
                    tb_GetTime.Text = $"{_mainFrame.equipment.robot.GetTactTime.TotalSeconds:F3} s";
                    tb_PutTime.Text = $"{_mainFrame.equipment.robot.PutTactTime.TotalSeconds:F3} s";
                    
                    if (_mainFrame.equipment.robot.IsRunEnable && (_mainFrame.equipment.ProcessStatus == ProcessStatus.Idle || _mainFrame.equipment.ProcessStatus == ProcessStatus.Pause))
                    {
                        if (gb_Control.Enabled == false)
                        {
                            gb_Control.Enabled = true;
                        }

                        if (gb_Move.Enabled == false)
                        {
                            gb_Move.Enabled = true;
                        }

                    }
                    else
                    {
                        if(gb_Control.Enabled)
                        {
                            gb_Control.Enabled = false;
                        }

                        if (gb_Move.Enabled)
                        {
                            gb_Move.Enabled = false;
                        }
                    }
                }
                catch (Exception e)
                {
                    EquipmentLogManager.Instance.WriteExceptionLog(e.StackTrace);
                }
                finally
                {
                    _updateCheck = false;
                }
            }
        }

        private void RobotViewer_FormClosing(object sender, FormClosingEventArgs e)
        {
            e.Cancel = true;
            this.Hide();
        }

        private void btn_GetReady_Click(object sender, EventArgs e)
        {
            StageList stage = StageList.Port1;

            if (Enum.TryParse(cbb_Stage.Text, out stage))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
                _mainFrame.equipment.robot.GetReady(stage, cbb_Slot.SelectedIndex + 1);
            }
        }

        private void btn_ErrorClear_Click(object sender, EventArgs e)
        {
            EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            _mainFrame.equipment.robot.ErrorClear();
        }

        private void btn_Home_Click(object sender, EventArgs e)
        {
            EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            _mainFrame.equipment.robot.Home();
        }

        private void btn_PutReady_Click(object sender, EventArgs e)
        {
            StageList stage = StageList.Port1;

            if (Enum.TryParse(cbb_Stage.Text, out stage))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
                _mainFrame.equipment.robot.PutReady(stage, cbb_Slot.SelectedIndex + 1);
            }
        }

        private void MappingTh()
        {
            _tactTimeCheck = DateTime.Now;
            _mainFrame.equipment.robot.Mapping(mappingPort);

            DateTime checkTime = DateTime.Now;

            //Mapping 시작 후 1초 대기 or Run 확인.
            while(true)
            {
                if (_mainFrame.equipment.robot.IsRun)
                {
                    break;
                }
                else
                {
                    if ((DateTime.Now - checkTime).TotalSeconds > 1)
                        break;
                }
            }

            while(true)
            {
                //Run 종료 후 Mapping 결과 받기 시작.
                if(_mainFrame.equipment.robot.IsRun == false)
                {
                    if (mappingPort == 1)
                        ReadPort1MappingResult();
                    else if (mappingPort == 2)
                        ReadPort2MappingResult();

                    break;
                }
            }

            _mappingTime = DateTime.Now - _tactTimeCheck;
        }

        private void ReadPort1MappingResult()
        {
            string mappingData = _mainFrame.equipment.robot.ReadMappingResult();

            if (mappingData.Length == 25)
            {
                for (int i = 0; i < 25; i++)
                {
                    WaferInfo info = _mainFrame.equipment.waferInfoManager.GetWaferInfo(WaferInfoManager.WaferNumbers.A1 + i);
                    info.SourceNumber = WaferInfoManager.WaferNumbers.A1 + i;

                    if (mappingData[i] == '0')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Empty;
                    }
                    else if (mappingData[i] == '1')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Exist;
                    }
                    else if (mappingData[i] == 'C')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Leaning;
                    }
                    else if (mappingData[i] == 'D')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Overlap;
                    }
                    
                    _mainFrame.equipment.waferInfoManager.SetWaferInfo(WaferInfoManager.WaferNumbers.A1 + i, info);
                }
            }
        }

        private void ReadPort2MappingResult()
        {
            string mappingData = _mainFrame.equipment.robot.ReadMappingResult();

            if (mappingData.Length == 25)
            {
                for (int i = 0; i < 25; i++)
                {
                    WaferInfo info = _mainFrame.equipment.waferInfoManager.GetWaferInfo(WaferInfoManager.WaferNumbers.B1 + i);
                    info.SourceNumber = WaferInfoManager.WaferNumbers.B1 + i;

                    if (mappingData[i] == '0')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Empty;
                    }
                    else if (mappingData[i] == '1')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Exist;
                    }
                    else if (mappingData[i] == 'C')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Leaning;
                    }
                    else if (mappingData[i] == 'D')
                    {
                        info.IsStatus = WaferInfo.WaferStatus.Overlap;
                    }

                    _mainFrame.equipment.waferInfoManager.SetWaferInfo(WaferInfoManager.WaferNumbers.B1 + i, info);
                }
            }
        }

        private void MoveSequence()
        {
            if (InvokeRequired)
            {
                BeginInvoke(new UIUpdateDelegate(MoveSequence));
                return;
            }
            else
            {
                switch (_moveStep)
                {
                    case MoveSteps.Wait:
                        {
                            break;
                        }
                    case MoveSteps.Get:
                        {
                            StageList stage = StageList.Port1;

                            if (Enum.TryParse(cbb_StartStage.Text, out stage))
                            {
                                if (_mainFrame.equipment.robot.Get(stage, cbb_StartSlot.SelectedIndex + 1))
                                {
                                    _moveStep = MoveSteps.GetWait;
                                }
                                else
                                {
                                    MessageBoxPad mbp = new MessageBoxPad("Get 할 수 없는 상태 입니다.");
                                    mbp.Show();
                                    _moveStep = MoveSteps.End;
                                }
                            }

                            break;
                        }
                    case MoveSteps.GetWait:
                        {
                            if (_mainFrame.equipment.robot.IsRunEnable)
                            {
                                if (_mainFrame.equipment.robot.IsWaferExist)
                                {
                                    _moveStep = MoveSteps.Put;
                                }
                                else
                                {
                                    MessageBoxPad mbp = new MessageBoxPad("Wafer를 확인해 주세요 !");
                                    mbp.Show();
                                    _moveStep = MoveSteps.End;
                                }
                            }
                            break;
                        }
                    case MoveSteps.Put:
                        {
                            StageList stage = StageList.Port1;

                            if (Enum.TryParse(cbb_EndStage.Text, out stage))
                            {
                                if (_mainFrame.equipment.robot.Put(stage, cbb_EndSlot.SelectedIndex + 1))
                                {
                                    _moveStep = MoveSteps.PutWait;
                                }
                                else
                                {
                                    MessageBoxPad mbp = new MessageBoxPad("Put 할 수 없는 상태 입니다.");
                                    mbp.Show();
                                    _moveStep = MoveSteps.End;
                                }
                            }
                            break;
                        }
                    case MoveSteps.PutWait:
                        {
                            if (_mainFrame.equipment.robot.IsRunEnable)
                            {
                                if (_mainFrame.equipment.robot.IsWaferExist == false)
                                {
                                    _moveStep = MoveSteps.End;
                                }
                                else
                                {
                                    MessageBoxPad mbp = new MessageBoxPad("Wafer를 확인해 주세요 !");
                                    mbp.Show();
                                    _moveStep = MoveSteps.End;
                                }
                            }
                            break;
                        }
                    case MoveSteps.End:
                        {
                            _moveStep = MoveSteps.Wait;

                            break;
                        }
                }
            }
        }

        private void MoveThread()
        {
            while(_mainFrame.equipment.IsDisposed == false)
            {
                Thread.Sleep(50);
                MoveSequence();
            }
        }

        private void btn_Get_Click(object sender, EventArgs e)
        {
            StageList stage = StageList.Port1;

            if (Enum.TryParse(cbb_Stage.Text, out stage))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
                _mainFrame.equipment.robot.Get(stage, cbb_Slot.SelectedIndex + 1);
            }
        }

        private void btn_Put_Click(object sender, EventArgs e)
        {
            StageList stage = StageList.Port1;

            if (Enum.TryParse(cbb_Stage.Text, out stage))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
                _mainFrame.equipment.robot.Put(stage, cbb_Slot.SelectedIndex + 1);
            }
        }

        private void cbb_Stage_SelectedIndexChanged(object sender, EventArgs e)
        {
            SlotComboBoxRefresh(cbb_Stage.SelectedIndex + 1);
        }

        private void btn_ServoOn_Click(object sender, EventArgs e)
        {
            EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            _mainFrame.equipment.robot.ServoOn();
        }

        private void btn_ServoOff_Click(object sender, EventArgs e)
        {
            EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            _mainFrame.equipment.robot.ServoOff();
        }

        private void btn_EMO_Click(object sender, EventArgs e)
        {
            EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            _mainFrame.equipment.robot.EMS();
        }

        private void btn_Port1Mapping_Click(object sender, EventArgs e)
        {
            if(_mainFrame.equipment.robot.MappingSeq(1))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            }
        }

        private void btn_Port2Mapping_Click(object sender, EventArgs e)
        {
            if (_mainFrame.equipment.robot.MappingSeq(2))
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
            }
        }

        private void cbb_StartStage_SelectedIndexChanged(object sender, EventArgs e)
        {
            StartSlotComboBoxRefresh(cbb_StartStage.SelectedIndex + 1);
        }

        private void cbb_EndStage_SelectedIndexChanged(object sender, EventArgs e)
        {
            EndSlotComboBoxRefresh(cbb_EndStage.SelectedIndex + 1);
        }

        //미리 인터락을 걸어 놓을까 ...? 아님 말까
        private void btn_Move_Click(object sender, EventArgs e)
        {
            if (_moveStep == MoveSteps.Wait)
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");

                _moveStep = MoveSteps.Get;
            }
            else
            {
                MessageBoxPad mbp = new MessageBoxPad("Move 진행 중 입니다.");
                mbp.Show();
            }
        }

        private void btn_MoveStop_Click(object sender, EventArgs e)
        {
            if (_moveStep != MoveSteps.Wait)
            {
                EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
                _moveStep = MoveSteps.End;
            }
        }
    }
}