using System;
using System.Threading;
using System.Windows.Forms;
using VirtualSrm.Cache.Entity;
using VirtualSrm.Properties;
using VirtualSrm.Srm.Entity;
using VirtualSrm.Srm.EnumType;
using VirtualSrm.Utils;

namespace VirtualSrm.View.Srm
{
    public partial class StackerForm : Form
    {
        private StackerEntity Stacker;

        private Thread GetStackerStateThread;

        private Thread ReceiveTaskThread;

        private Thread DoTaskThread;

        private Thread AlarmAckThread;

        public StackerForm(string name)
        {
            Stacker = new StackerEntity(name);

            Stacker.WSrmNo = name == "stacker1" ? 1 : 2; ;
            Stacker.WMode = (int)ESrmMode.自动模式;
            Stacker.WAlarm = 0;
            Stacker.WLiftFull = 0;
            Stacker.WPosX = 0;
            Stacker.WPosY = 0;
            Stacker.WPosZ = 0;
            Stacker.WPosXmm = 0;
            Stacker.WPosYmm = 0;
            Stacker.WPosZmm = 0;
            Stacker.WPickFinish = 0;
            Stacker.WDeliveryFinish = 0;
            Stacker.WTaskFinish = 0;
            Stacker.WTaskNo = 0;
            Stacker.WState = (int)ESrmState.堆垛机空闲;
            Stacker.WActualLane = name == "stacker1" ? 1 : 2;
            Stacker.WAlarmNumber = 0; 
            Stacker.WHandShake = 0;
            Stacker.Ack = 0;
                   
            CacheEntity.OpcWcfServiceClient.WriteValues(new string[] { Stacker.OpcReadItems.SrmNo, Stacker.OpcReadItems.TaskNo, Stacker.OpcReadItems.Stb,
                Stacker.OpcReadItems.SourcePosX, Stacker.OpcReadItems.SourcePosY, Stacker.OpcReadItems.SourcePosZ, 
                Stacker.OpcReadItems.DestinationPosX, Stacker.OpcReadItems.DestinationPosY, Stacker.OpcReadItems.DestinationPosZ, 
                Stacker.OpcReadItems.Command, Stacker.OpcReadItems.EmergencyStop, Stacker.OpcReadItems.AlarmAck 
            }, new object[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});

            InitializeComponent();
        }

        private void StackerForm_Load(object sender, EventArgs e)
        {
            CheckForIllegalCrossThreadCalls = false;
            this.Text = Stacker.Name;

            this.tbSrmNo.DataBindings.Add("Text",Stacker,"SrmNo");
            this.tbTaskNo.DataBindings.Add("Text", Stacker, "TaskNo");
            this.tbSourcePosZ.DataBindings.Add("Text", Stacker, "SourcePosZ");
            this.tbSourcePosX.DataBindings.Add("Text", Stacker, "SourcePosX");
            this.tbSourcePosY.DataBindings.Add("Text", Stacker, "SourcePosY");
            this.tbDestinationPosZ.DataBindings.Add("Text", Stacker, "DestinationPosZ");
            this.tbDestinationPosX.DataBindings.Add("Text", Stacker, "DestinationPosX");
            this.tbDestinationPosY.DataBindings.Add("Text", Stacker, "DestinationPosY");
            this.tbCommand.DataBindings.Add("Text", Stacker, "Command");
            this.tbEmergencyStop.DataBindings.Add("Text", Stacker, "EmergencyStop");
            this.tbAlarmAck.DataBindings.Add("Text", Stacker, "AlarmAck");
            this.tbStb.DataBindings.Add("Text", Stacker, "Stb");
            this.tbAck.DataBindings.Add("Text", Stacker, "Ack");
            this.tbHandShake.DataBindings.Add("Text", Stacker, "HandShake");

            this.tbWSrmNo.DataBindings.Add("Text", Stacker, "WSrmNo");
            this.tbWMode.DataBindings.Add("Text", Stacker, "WMode");
            this.tbWAlarm.DataBindings.Add("Text", Stacker, "WAlarm");
            this.tbWLiftFull.DataBindings.Add("Text", Stacker, "WLiftFull");
            this.tbWPosX.DataBindings.Add("Text", Stacker, "WPosX");
            this.tbWPosY.DataBindings.Add("Text", Stacker, "WPosY");
            this.tbWPosZ.DataBindings.Add("Text", Stacker, "WPosZ");
            this.tbWPosXmm.DataBindings.Add("Text", Stacker, "WPosXmm");
            this.tbWPosYmm.DataBindings.Add("Text", Stacker, "WPosYmm");
            this.tbWPosZmm.DataBindings.Add("Text", Stacker, "WPosZmm");
            this.tbWPickFinish.DataBindings.Add("Text", Stacker, "WPickFinish");
            this.tbWDeliveryFinish.DataBindings.Add("Text", Stacker, "WDeliveryFinish");
            this.tbWTaskFinish.DataBindings.Add("Text", Stacker, "WTaskFinish");
            this.tbWTaskNo.DataBindings.Add("Text", Stacker, "WTaskNo");
            this.tbWState.DataBindings.Add("Text", Stacker, "WState");
            this.tbWActualLane.DataBindings.Add("Text", Stacker, "WActualLane");
            this.tbWAlarmNumber.DataBindings.Add("Text", Stacker, "WAlarmNumber");
            this.tbWHandShake.DataBindings.Add("Text", Stacker, "WHandShake");


            GetStackerStateThread = new Thread(new ThreadStart(GetStackerState));
            ThreadHelper.StartThread(GetStackerStateThread);

            ReceiveTaskThread = new Thread(new ThreadStart(ReceiveTask));
            ThreadHelper.StartThread(ReceiveTaskThread);

            DoTaskThread = new Thread(new ThreadStart(DoTask));
            ThreadHelper.StartThread(DoTaskThread);

            AlarmAckThread = new Thread(new ThreadStart(AlarmAck));
            ThreadHelper.StartThread(AlarmAckThread);
        }

        private void StackerForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            ThreadHelper.CloseThread(GetStackerStateThread);
            ThreadHelper.CloseThread(ReceiveTaskThread);
            ThreadHelper.CloseThread(DoTaskThread);
            ThreadHelper.CloseThread(AlarmAckThread);
            if(Stacker != null)
            {
                Stacker.CloseWriteHandShakeThread();
                //Stacker = null;
               // GC.Collect();
            }
            
        }

        /// <summary>
        /// 获取每个堆垛机状态
        /// </summary>
        /// <param name="stacker">需要获取状态的堆垛机</param>
        private void GetStackerState()
        {    
            var items = new string[] 
            {           
                //Stacker.OpcWriteItems.SrmNo,// 1Srm编号
                //Stacker.OpcWriteItems.Mode,// 2任务号 
                //Stacker.OpcWriteItems.Alarm,// 3告警
                //Stacker.OpcWriteItems.LiftFull, // 4载货工位是否有货
                //Stacker.OpcWriteItems.PosX,// 5当前列
                //Stacker.OpcWriteItems.PosY,// 6当前层
                //Stacker.OpcWriteItems.PosZ,//7货叉位置
                //Stacker.OpcWriteItems.PosXmm,// 8当前列坐标
                //Stacker.OpcWriteItems.PosYmm,// 9当前层坐标
                //Stacker.OpcWriteItems.PosZmm,// 10当前货叉标
                //Stacker.OpcWriteItems.PickFinish,// 11完成取货信号
                //Stacker.OpcWriteItems.DeliveryFinish,//// 12完成放货信号
                //Stacker.OpcWriteItems.TaskFinish,// 13任务完成
                //Stacker.OpcWriteItems.TaskNo,// 14当前任务号
                //Stacker.OpcWriteItems.State,// 15当前任务执行状态
                //Stacker.OpcWriteItems.ActualLane,// 16当前巷道号
                //Stacker.OpcWriteItems.AlarmNumber,// 17告警代码
                //Stacker.OpcWriteItems.HandShake,// 18心跳

                Stacker.OpcReadItems.SrmNo,// 1Srm编号
                Stacker.OpcReadItems.TaskNo,// 2任务号
                Stacker.OpcReadItems.SourcePosX,// 3源列
                Stacker.OpcReadItems.SourcePosY,// 4源层
                Stacker.OpcReadItems.SourcePosZ,//5源排
                Stacker.OpcReadItems.DestinationPosX,// 6宿列
                Stacker.OpcReadItems.DestinationPosY,// 7宿层
                Stacker.OpcReadItems.DestinationPosZ,// 8宿排
                Stacker.OpcReadItems.Command,// 9发送命令
                Stacker.OpcReadItems.EmergencyStop,// 10紧急停止
                Stacker.OpcReadItems.AlarmAck,// 11解除告警
                Stacker.OpcReadItems.Stb,// 12WCS通讯
                //Stacker.OpcReadItems.Ack,// 13SRM 应答位
                Stacker.OpcReadItems.HandShake// 14心跳
            };
            while (true)
            {
                try
                {
                    var opcs = CacheEntity.OpcWcfServiceClient.ReadValues(items);
                    if (opcs == null || opcs.Length <= 0)
                    {              
                        Thread.Sleep(1000);
                        continue;
                    }
                    var i = 0;
                    //Stacker.WSrmNo = int.Parse(opcs[i++].ToString());
                    //Stacker.WMode = int.Parse(opcs[i++].ToString());
                    //Stacker.WAlarm = int.Parse(opcs[i++].ToString());
                    //Stacker.WLiftFull = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosX = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosY = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosZ = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosXmm = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosYmm = int.Parse(opcs[i++].ToString());
                    //Stacker.WPosZmm = int.Parse(opcs[i++].ToString());
                    //Stacker.WPickFinish = int.Parse(opcs[i++].ToString());
                    //Stacker.WDeliveryFinish = int.Parse(opcs[i++].ToString());
                    //Stacker.WTaskFinish = int.Parse(opcs[i++].ToString());
                    //Stacker.WTaskNo = int.Parse(opcs[i++].ToString());
                    //Stacker.WState = int.Parse(opcs[i++].ToString());
                    //Stacker.WActualLane = int.Parse(opcs[i++].ToString());
                    //Stacker.WAlarmNumber = int.Parse(opcs[i++].ToString());
                    //Stacker.WHandShake = int.Parse(opcs[i++].ToString());

                    Stacker.SrmNo = int.Parse(opcs[i++].ToString());
                    Stacker.TaskNo = int.Parse(opcs[i++].ToString());
                    Stacker.SourcePosX = int.Parse(opcs[i++].ToString());
                    Stacker.SourcePosY = int.Parse(opcs[i++].ToString());
                    Stacker.SourcePosZ = int.Parse(opcs[i++].ToString());
                    Stacker.DestinationPosX = int.Parse(opcs[i++].ToString());
                    Stacker.DestinationPosY = int.Parse(opcs[i++].ToString());
                    Stacker.DestinationPosZ = int.Parse(opcs[i++].ToString());
                    Stacker.Command = int.Parse(opcs[i++].ToString());
                    Stacker.EmergencyStop = int.Parse(opcs[i++].ToString());
                    Stacker.AlarmAck = int.Parse(opcs[i++].ToString());
                    Stacker.Stb = int.Parse(opcs[i++].ToString());
                    //Stacker.Ack = int.Parse(opcs[i++].ToString());
                    Stacker.HandShake = int.Parse(opcs[i++].ToString());   
                }
                catch (Exception ex)
                {
                    LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}读取状态失败:{1}", Stacker.Name, ex.Message);
                }
                finally 
                {
                    Thread.Sleep(1000);
                }
            }
        }

        private void ReceiveTask()
        {
            string msg;
            while(true)
            {
                var flag = Stacker.ReceiveTask(out msg);
                if (!flag) 
                {
                    //LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}接收任务失败：{1}", Stacker.Name, msg);
                }
                else
                {
                    LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}接收任务成功：{1}", Stacker.Name, Stacker.TaskNo);
                }

                Thread.Sleep(1000);
            }
        }

        private void DoTask()
        {
            string msg;
            while (true)
            {
                var flag = Stacker.DoTask(out msg);
                if (!flag)
                {
                    //LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}执行任务失败：{1}", Stacker.Name, msg);
                }
                else
                {
                    LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}执行任务成功：{1}", Stacker.Name, Stacker.TaskNo);
                }

                Thread.Sleep(1000);
            }
        }

        private void AlarmAck()
        {
            while (true)
            {
                if(Stacker.AlarmAck == 1)
                {
                    Stacker.WAlarm = 0;
                    Stacker.WAlarmNumber = 0;
                    CacheEntity.OpcWcfServiceClient.WriteValue(Stacker.OpcReadItems.AlarmAck, 0);
                }
               

                Thread.Sleep(1000);
            }
        }


        /// <summary>
        /// 点击告警触发的事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button1_Click(object sender, EventArgs e)
        {
            Stacker.WAlarm = 1;
            Stacker.WAlarmNumber = int.Parse(tbCode.Text.Trim());
            

        }



    }
}