using System.Threading;
using System.Threading.Tasks;
using VirtualSrm.Common.Entity;
using VirtualSrm.Srm.Entity;
using VirtualSrm.Srm.EnumType;
using VirtualSrm.Utils;

namespace VirtualSrm.Srm.Strategy
{
    public class 执行搬运命令:IStrategy
    {
        private StackerEntity Stacker;
        
        private TaskEntity Task;

        private bool XFlag;

        private bool YFlag;

        private bool ZFlag;

        public 执行搬运命令(StackerEntity stacker, TaskEntity task)
        {
            this.Stacker = stacker;
            this.Task = task;
        }

        public void DoJob()
        {
            Task.Status = (int)ETaskStatus.执行中;
            Stacker.WState = (int)ESrmState.定位到取货位;
            Stacker.WLiftFull = 0;
            Stacker.WDeliveryFinish = 0;
            Stacker.WPickFinish = 0;
            Stacker.WTaskFinish = 0;
            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveX)), Task.SourcePosX);
            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveY)), Task.SourcePosY);

            while(!XFlag || !YFlag)
            {
                Thread.Sleep(1000);
            }

            Stacker.WState = (int)ESrmState.取货中;
            XFlag = false;
            YFlag = false;

            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), Task.SourcePosZ);

            while (!ZFlag)
            {
                Thread.Sleep(1000);
            }

            ZFlag = false;
            Thread.Sleep(1000);


            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), 0);

            while (!ZFlag)
            {
                Thread.Sleep(1000);
            }


            Stacker.WState = (int)ESrmState.取货完成;


            Stacker.WLiftFull = 1;
            Stacker.WPickFinish = 1;



            Thread.Sleep(1000);
            ZFlag = false;

            Stacker.WState = (int)ESrmState.移动到放货位置;

            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveX)), Task.DestinationPosX);
            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveY)), Task.DestinationPosY);

            while (!XFlag || !YFlag)
            {
                Thread.Sleep(1000);
            }

            Stacker.WState = (int)ESrmState.放货中;
            XFlag = false;
            YFlag = false;

            Thread.Sleep(1000);
            
            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), Task.DestinationPosZ);

            while (!ZFlag)
            {
                Thread.Sleep(1000);
            }

            Stacker.WLiftFull = 0;

            ZFlag = false;
            Thread.Sleep(1000);
            ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), 0);

            while (!ZFlag)
            {
                Thread.Sleep(1000);
            }

            Stacker.WDeliveryFinish = 1;


            Stacker.WState = (int)ESrmState.搬运完成;
            
            Thread.Sleep(1000);
            
            ZFlag = false;

            Stacker.WTaskFinish = 1;

            while(Stacker.TaskNo != 0)
            {
                Thread.Sleep(1000);
            }


            Stacker.WTaskNo = Stacker.TaskNo;

            Task.Status = (int)ETaskStatus.已结束;
            Stacker.WState = (int)ESrmState.堆垛机空闲;
            Stacker.WTaskFinish = 0;
            Stacker.WLiftFull = 0;
            Stacker.WDeliveryFinish = 0;
            Stacker.WPickFinish = 0;



        }

        private void MoveX(object x) 
        {
            var xBegin = Stacker.WPosX;
            var xEnd = (int)x;
            var deleta = xBegin < xEnd ? 1 : -1;

            while(Stacker.WPosX != xEnd)
            {
                if(Stacker.EmergencyStop == 0)
                {
                    Stacker.WPosXmm += 100*deleta;
                    Thread.Sleep(1000);
                    Stacker.WPosXmm += 100 * deleta;
                    Stacker.WPosX += deleta;

                }
                
                Thread.Sleep(1000);
            }

            XFlag = true;
        }

        private void MoveY(object y)
        {
            var yBegin = Stacker.WPosY;
            var yEnd = (int)y;
            var deleta = yBegin < yEnd ? 1 : -1;

            while (Stacker.WPosY != yEnd)
            {
                if (Stacker.EmergencyStop == 0)
                { 
                    Stacker.WPosYmm += 100 * deleta;
                    Thread.Sleep(1000);
                    Stacker.WPosYmm += 100 * deleta;
                    Stacker.WPosY += deleta;

                }
               
                Thread.Sleep(1000);
            }

            YFlag = true;
        }

        private void MoveZ(object z)
        {
            var zEnd = (int)z;
          
            if(zEnd == 2 || zEnd ==6)
            {
                Stacker.WPosZ = (int)EForkPos.货叉在右侧;
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
            }
            else if (zEnd == 1 || zEnd == 5)
            {
                Stacker.WPosZ = (int)EForkPos.货叉在右侧;
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm += 100;
                Thread.Sleep(1000);
            }
            else if (zEnd == 3 || zEnd == 7)
            {
                Stacker.WPosZ = (int)EForkPos.货叉在左侧;
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
            }
            else if (zEnd == 4 || zEnd == 8)
            {
                Stacker.WPosZ = (int)EForkPos.货叉在左侧;
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
                Stacker.WPosZmm -= 100;
                Thread.Sleep(1000);
            }
            else if(zEnd == 0)
            {
                var delta = Stacker.WPosZmm > 0 ? -1 : 1;
                
                while(Stacker.WPosZmm != 0)
                {
                    Stacker.WPosZmm += 100 * delta; 
                    Thread.Sleep(1000);
                }

                Stacker.WPosZ = (int)EForkPos.货叉原位;

                
            }
            
            

            ZFlag = true;

        }



    }
}