using Bro.Common.Base;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Bro.Device.GTSCard
{
    public class GTSCardDriver : DeviceBase, IMotion
    {
        public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
        }

        protected override void Init()
        {
            throw new NotImplementedException();
        }

        protected override void Pause()
        {
            throw new NotImplementedException();
        }

        protected override void Resume()
        {
            throw new NotImplementedException();
        }

        protected override void Start()
        {
            throw new NotImplementedException();
        }

        protected override void Stop()
        {
            throw new NotImplementedException();
        }

        /// <summary>
        /// 点位到点位 运动
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <param name="prfPosition">规划位置,单位毫米</param>
        /// <param name="prfVelocity">规划速度,单位米每秒</param>
        public void P2P(short cardNum, short axisNum, int prfPosition, int prfVelocity)
        {
            GTSCardAPI.TTrapPrm trapprm;
            GTSCardAPI.GT_PrfTrap(cardNum, axisNum);
            GTSCardAPI.GT_GetTrapPrm(cardNum, axisNum, out trapprm);
            trapprm.acc = GTSCardParameter.P2PAcc;
            trapprm.dec = GTSCardParameter.P2PDec;
            trapprm.smoothTime = 1;
            GTSCardAPI.GT_SetTrapPrm(cardNum, axisNum, ref trapprm);
            GTSCardAPI.GT_SetPos(cardNum, axisNum, prfPosition * GTSCardParameter.Dangliang);
            GTSCardAPI.GT_SetVel(cardNum, axisNum, prfVelocity * GTSCardParameter.Dangliang);
            GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));
        }

        /// <summary>
        /// Jog运动
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum"></param>
        /// <param name="velocity">规划速度，单位米每秒</param>
        public void Jog(short cardNum, short axisNum, double velocity)
        {
            GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
            short rtn = GTSCardAPI.GT_PrfJog(cardNum, axisNum);
            jogprm.acc = 1;
            jogprm.dec = 1;
            GTSCardAPI.GT_SetJogPrm(cardNum, axisNum, ref jogprm);//设置jog运动参数
            GTSCardAPI.GT_SetVel(cardNum, axisNum, velocity);//设置目标速度
            GTSCardAPI.GT_Update(cardNum, 1 << (axisNum - 1));//更新轴运动
        }

        /// <summary>
        /// 读取输入
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="index">输入口</param>
        /// <returns>有输入返回true，无输入返回false</returns>
        public bool GetDi(short cardNum, short index)
        {
            int value;
            GTSCardAPI.GT_GetDi(cardNum, GTSCardAPI.MC_GPI, out value);
            if ((value & 1 << index) == 0) return true;//有输入返回true
            else return false;          //无输入返回false
        }

        /// <summary>
        /// 输出
        /// </summary>
        /// <param name="cardNumo">卡号</param>
        /// <param name="index">输出口,返回1-16</param>
        /// <param name="value">0表示输出，1表示关闭</param>
        public void WriteOut(short cardNumo, short index, bool value)
        {
            short outNum = (short)(index % 100 + 1);
            switch (value)
            {
                case true:
                    {
                        GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 0);//按位输出，0表示输出，1表示关闭
                    }
                    break;
                case false:
                    {
                        GTSCardAPI.GT_SetDoBit(cardNumo, GTSCardAPI.MC_GPO, outNum, 1);//按位输出，0表示输出，1表示关闭
                    }
                    break;
            }
        }

        /// <summary>
        /// 停止 某个轴
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum"></param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
        public void Stop(short cardNum, short axisNum, short option)
        {
            GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), option);
        }

        /// <summary>
        /// 停止 某个轴
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum">轴号</param>
        /// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
        public void Stop(short cardNum, short axisNum, bool value)
        {
            switch (value)
            {
                case false:
                    {
                        GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 0);
                    }
                    break;
                case true:
                    {
                        GTSCardAPI.GT_Stop(cardNum, 1 << (axisNum - 1), 1 << (axisNum - 1));

                    }
                    break;
            }
        }

        /// <summary>
        /// 停止 全部轴
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="value">停止方式，false表示平滑停止，true表示紧急停止</param>
        public void StopAll(short cardNum, bool value)
        {
            for (short i = 1; i <= GTSCardParameter.AxisCount; i++)
            {
                Stop(cardNum, i, value);
            }
        }

        /// <summary>
        /// IO输出
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="mdl">模块号</param>
        /// <param name="index">IO输出</param>
        /// <param name="value">true表示输出，false表示无输出</param>
        public void MC_WriteDigitalOutput(short cardNum, short mdl, short index, bool value)
        {
            if (value)
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 0);
            }
            else
            {
                GTSCardAPI.GT_SetExtIoBit(cardNum, mdl, index, 1);
            }
        }

        /// <summary>
        /// 读取IO输出状态
        /// </summary>
        /// <param name="cardNumo"></param>
        /// <param name="index"></param>
        /// <returns></returns>
        public bool GetDoSts(short cardNumo, short index)
        {
            short outNum = 0;
            int outSts;
            outNum = (short)(index % 100);
            GTSCardAPI.GT_GetDo(cardNumo, GTSCardAPI.MC_GPO, out outSts);
            if ((outSts & (1 << outNum)) == 0) return true;
            else return false;
        }

        static object lockObj = new object();

        /// <summary>
        /// 读取当前值
        /// </summary>
        /// <param name="cardNum">卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns>返回当前值，单位毫米</returns>
        public double GetPosMM(short cardNum, short axisNum)
        {
            lock (lockObj)
            {
                double prfpos = 0; uint pclock = 0;
                GTSCardAPI.GT_GetPrfPos(cardNum, axisNum, out prfpos, 1, out pclock);
                return prfpos / GTSCardParameter.Dangliang;
            }
        }

        /// <summary>
        /// 读取轴状态，判断电机是否停止
        /// </summary>
        /// <param name="cardNum"></param>
        /// <param name="axisNum"></param>
        /// <returns></returns>
        public bool IsStop(short cardNum, short axisNum)
        {
            lock (lockObj)
            {
                int sts = 0;
                uint pclock = 0;
                GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
                if ((sts & 0x400) == 0) return true;//停止返回true
                else return false;              //运行中返回false
            }
        }
    }
}