using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;

namespace Bro.Device.GTSCard
{
    [Device("GTSCard", "固高板卡", EnumHelper.DeviceAttributeType.Device)]
    public class GTSCardDriver : MotionCardBase
    {
        // 异常事件
        public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IIConfig
        {
            get
            {
                return InitialConfig as GTSCardInitialConfig;
            }
        }

        static object moveLock = new object();
        /// <summary>
        /// 是否复位标志
        /// </summary>
        bool _isResetting = false;

        public void SetResetFlag(bool isReset)
        {
            _isResetting = isReset;
        }

        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
        }

        #region DeviceBase

        protected override void Init()
        {
            InitialMotionCard();
        }

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

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

        protected override void Start()
        {
            AllAxisOn();
        }

        protected override void Stop()
        {
            AllMoveStop();
            AllAxisOff();
        }

        /// <summary>
        /// 设备 运行（执行 板卡系列的操作的 集合）
        /// </summary>
        /// <param name="config"></param>
        /// <returns></returns>
        public override ResponseMessage Run(IOperationConfig config)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var motionCardOperationConfig = config as MotionCardOperationConfigBase;
            foreach (var operationSet in motionCardOperationConfig.OperationCollection)
            {
                responseMessage = RunOperationSet(operationSet);
                if (!responseMessage.Result)
                {
                    return responseMessage;
                }
            }
            return responseMessage;
        }

        /// <summary>
        /// 执行 一个系列的操作
        /// </summary>
        private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            // 1.预检查
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var preCheck in operationSet.PreCheckIOCollection)
                {
                    int timeout = operationSet.PreCheckIOTimeout;
                    IOValue? ioData = null;
                    while (CurrentState == DeviceState.DSOpen)
                    {
                        Thread.Sleep(10);
                        ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 是开、关 从MonitorValues 获取
                        timeout -= 10;
                        if (preCheck.CheckValue == ioData || (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
                    }

                    if (preCheck.CheckValue != ioData)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"预检查不通过，配置：{preCheck.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                if (!responseMessage.Result)
                {
                    return responseMessage;
                }
            }


            // 3.IO输出 不需要超时
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var ioOutput in operationSet.IOOutputCollection)
                {
                    var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 是开、关 从MonitorValues 获取
                    if (ioOutput.CheckValue != ioData)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            // 4.IO确认
            if (CurrentState == DeviceState.DSOpen)
            {
                foreach (var ioConfirm in operationSet.IOConfirmCollection)
                {
                    int timeout = operationSet.IOConfirmTimeout;
                    IOValue? ioData = null;
                    while (CurrentState == DeviceState.DSOpen)
                    {
                        Thread.Sleep(10);
                        ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 是开、关 从MonitorValues 获取
                        timeout -= 10;
                        if (ioConfirm.CheckValue == ioData || (operationSet.IOConfirmTimeout > 0 && timeout < 0))
                        {
                            break;
                        }
                    }

                    if (ioConfirm.CheckValue != ioData)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"IO确认不通过，配置：{ioConfirm.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                    }
                }
            }

            return responseMessage;
        }
        #endregion

        #region GTSCard

        /// <summary>
        /// Load Motion Card parameter from file
        /// </summary>
        /// <param name="fileName">Invalid Parameter</param>
        /// <returns></returns>
        public void InitialMotionCard()
        {
            var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //打开运动控制器。参数必须为（0,1），不能修改。     
            res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
            res += GTSCardAPI.GT_ClrSts(0, 1, 8);
            if (res != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("板卡载入配置文件异常，错误码：" + res);
            }
        }


        public bool AllAxisOn()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴开启
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            {
                var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
            return resultOK;
        }

        public bool AllAxisOff()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴关闭
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            {
                var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
            return resultOK;
        }

        /// <summary>
        /// 单个轴开启
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }

        /// <summary>
        /// 单个轴关闭
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }

        /// <summary>
        /// 点位到点位运动
        /// </summary>
        /// <param name="item">运动对象</param>
        /// <returns>运动控制+停止判断</returns>
        public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
        {
            ResponseMessage responseMessage = new ResponseMessage();
            var gtsOperationCollection = opConfig as MotionOperationCollection;
            List<Task<bool>> taskList = new List<Task<bool>>();
            foreach (var movingOp in gtsOperationCollection.MovingOps)
            {
                var task = SingleAxisMoving(movingOp);
                taskList.Add(task);
            }

            Task.WaitAll(taskList.ToArray());
            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
            if (!responseMessage.Result)
            {
                responseMessage.Message = $"点位运动异常";
            }
            return responseMessage;
        }

        /// <summary>
        /// 点到点运动设置参数
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        /// <returns></returns>
        private bool SetAxisParam(MovingOption optionPara)
        {
            List<short> resultCode = new List<short>() { 0 };
            GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
            resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
            resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
            trapprm.smoothTime = 1;
            trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
            trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));

            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
            {
                throw new Exception("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
            }
            return resultOK;
        }

        /// <summary>
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            {
                bool isSuccessAndStop = false;
                try
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                        _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

                        switch (optionPara.MoveMode)
                        {
                            case MotionMode.Normal:
                                {
                                    if (_isResetting)
                                    {
                                        LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
                                        return false;
                                    }

                                    if (optionPara.IsAbsolute)
                                    {
                                        isSuccessAndStop = P2PMoveAbs(optionPara);
                                    }
                                    else
                                    {
                                        isSuccessAndStop = P2PMoveRel(optionPara);
                                    }

                                }
                                break;
                            case MotionMode.FindOri:
                                {
                                    isSuccessAndStop = GoHome(optionPara);
                                }
                                break;
                            case MotionMode.Jog:
                                {
                                    isSuccessAndStop = JogMove(optionPara);
                                }
                                break;
                        }
                        _position += $"{GetPosition(optionPara.AxisIndex)},";
                        _position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
                        LogAsync(DateTime.Now, "", _position);
                    }
                }
                catch (Exception ex)
                {
                    isSuccessAndStop = false;
                    LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                }
                return isSuccessAndStop;
            });
        }

        /// <summary>
        /// 获取规划位置（要去的位置）
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetPrfPosition(int axisNum)
        {
            double position = 0;
            double prfpos = 0; uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            position = prfpos / IConfig.AxisVelocityRatio;
            return position;
        }

        /// <summary>
        /// 获取目前当前位置
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetPosition(int axisNum)
        {
            lock (moveLock)
            {
                double position = 0;
                int pPos = 0;
                var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
                }
                position = pPos / IConfig.AxisVelocityRatio;
                return position;
            }
        }

        /// <summary>
        /// 获取规划速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetPrfVelocity(int axisNum)
        {
            double prfVel = 0;
            uint pclock = 0;
            var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

        /// <summary>
        /// 获取当前速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        public double GetVelocity(int axisNum)
        {
            double vel = 0;
            var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

        /// <summary>
        /// Set Single Axis Do Jog Move  
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
        /// <param name="nDirection">Motion Direction 0: Negative, 1: Positive</param>
        /// <param name="nMaxVel">max velocity</param>
        /// <returns></returns>
        public bool JogMove(MovingOption optionPara)
        {
            try
            {
                GTSCardAPI.TJogPrm jogprm = new GTSCardAPI.TJogPrm();
                short ret = 0;
                int repeatTime = 100;
                do
                {
                    ret = GTSCardAPI.GT_PrfJog((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    jogprm.acc = optionPara.VelocityPara.Acc;
                    jogprm.dec = optionPara.VelocityPara.Dec;
                    ret = GTSCardAPI.GT_SetJogPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref jogprm);//设置jog运动参数
                    ret = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity);//设置目标速度
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新轴运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
                    {
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(10);
                    }
                    repeatTime--;
                } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
                return (ret == (short)GTSRetCode.GRCRunOK);
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                return false;
            }
        }

        /// <summary>
        /// 相对位置运动 
        /// </summary>
        /// <param name="axisNum">AxisNo</param>
        /// <param name="nDistance">run distance</param>
        /// <returns></returns>
        public bool P2PMoveRel(MovingOption optionPara)
        {
            try
            {
                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                }

                int repeatTime = 30;
                while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
                {
                    Thread.Sleep(10);
                    repeatTime--;
                }

                if (CurrentState == EnumHelper.DeviceState.DSExcept)
                {
                    LogAsync(DateTime.Now, "板卡异常状态", "轴" + optionPara.AxisIndex + "试图异常状态运动");
                    return false;
                }

                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int currentPosition = (int)GetPosition(optionPara.AxisIndex);
                int dPosition = optionPara.Destination + currentPosition;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
                    {
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(50);
                    }
                    timeout -= 50;
                    if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
                    {
                        break;
                    }
                }

                //运动开始后 检查运动是否停止
                bool isStop = false;
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                return false;
            }
        }

        /// <summary>
        ///  绝对位置运动
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public bool P2PMoveAbs(MovingOption optionPara)
        {
            try
            {
                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                }
                int repeatTime = 30;
                while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
                {
                    Thread.Sleep(10);
                    repeatTime--;
                }
                if (CurrentState == EnumHelper.DeviceState.DSExcept)
                {
                    LogAsync(DateTime.Now, "板卡异常状态", "轴" + optionPara.AxisIndex + "试图异常状态运动");
                    return false;
                }

                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }
                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
                    {
                        LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
                        Thread.Sleep(50);
                    }
                    timeout -= 50;
                    if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) || (optionPara.MovingTimeout > 0 && timeout < 0))
                    {
                        break;
                    }
                }

                bool isStop = false;
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                return false;
            }
        }

        /// <summary>
        /// 某个轴运动停止
        /// </summary>
        /// <param name="axisNum">axisNo</param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
        /// <returns></returns>
        public async Task<bool> MoveStop(int axisNum, int option)
        {
            return await Task.Run(() =>
            {
                bool isStop = false;
                if (option == 1)
                {
                    StateChange(EnumHelper.DeviceState.DSExcept);
                }
                var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    LogAsync(DateTime.Now, "轴" + axisNum + "运动停止异常", "错误码：" + ret);
                    throw new Exception("轴" + axisNum + "运动停止异常，错误码：" + ret);
                }
                else
                {
                    LogAsync(DateTime.Now, "轴" + axisNum + "运动停止", "");
                }
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
                    Thread.Sleep(10);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            });
        }

        /// <summary>
        /// 所有开启的轴停止
        /// </summary>
        /// <param name="emergencyStop"></param>
        public void AllMoveStop(bool emergencyStop = false)
        {
            int option = emergencyStop ? 1 : 0;
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴运动结束
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            {
                var task = MoveStop(axisNum.AxisIndex, option);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
        }

        /// <summary>
        /// 回原点
        /// </summary>
        /// <param name="movingOption">卡号</param>
        /// <param name="axisn">轴号</param>
        /// <param name="homests">轴回原点状态</param>
        public bool GoHome(MovingOption movingOption)
        {
            try
            {
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
                thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
                thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
                thomeprm.edge = movingOption.GoHomePara.Edge;
                thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
                thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
                thomeprm.acc = movingOption.VelocityPara.Acc;
                thomeprm.dec = movingOption.VelocityPara.Dec;
                thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜搜距离
                thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset;  //偏移距离
                thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
                rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm);  //启动回零

                bool isStop = false;
                int repeatTime = 1000;
                do
                {
                    Thread.Sleep(10);
                    GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);

                    isStop = homests.run == 0;
                    if (isStop && homests.error == 0)
                    {
                        Thread.Sleep(200);
                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

                return isStop;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                return false;
            }
        }

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

        /// <summary>
        /// 按位设置数字 IO 输出状态
        /// </summary>
        /// <param name="index">输出口,返回1-16</param>
        /// <param name="value">false表示输出，true表示关闭</param>
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
            }
            else
            {
                var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
            }
        }

        /// <summary>
        /// 读取轴状态，判断电机是否停止
        /// </summary>
        /// <param name="cardNum">板卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public bool IsStop(short cardNum, short axisNum)
        {
            lock (moveLock)
            {
                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
            }
        }

        #endregion

        #region IMonitor

        public List<AxisMovingStatus> GetAxisMovingStatus()
        {
            List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
            foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
                axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
                axisMovingStatus.AxisName = axisConfig.AxisName;
                axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
                axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
                axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatusesList.Add(axisMovingStatus);

            }

            return axisMovingStatusesList;
        }


        public List<IOItem> GetMonitorValues()
        {
            var result = new List<IOItem>();
            //读取IO输入
            int inValue;
            GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_GPI, out inValue);
            //读取IO输出
            int outValue;
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);

            //解析结果
            for (var index = 1; index <= 16; index++)
            {
                IOItem inItem = new IOItem()
                {
                    IONum = index,
                    Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.INPUT
                };
                IOItem outItem = new IOItem()
                {
                    IONum = index,
                    Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
                    IOType = IOType.OUTPUT
                };
                result.Add(inItem);
                result.Add(outItem);
            }

            return result;
        }

        public async override void Monitor()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;
                        var newValues = GetMonitorValues();
                        var newAxisMovingStatus = GetAxisMovingStatus();
                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            var tempNew = newValues.DeepSerializeClone();//clone
                            var tempOld = MonitorValues.DeepSerializeClone();
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

                        if (sw.ElapsedMilliseconds > 20)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        }

                        if (IConfig.MonitorInterval > 0)
                        {
                            Thread.Sleep(IConfig.MonitorInterval);
                        }

                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        public override void OnMethodInvoked(IAsyncResult ar)
        {
            MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            ProcessResponse resValues = monitorSet.Response;
            if (resValues.ResultValue == (int)ReplyValue.IGNORE)
            {
                return;
            }

            Stopwatch sw = new Stopwatch();
            sw.Start();
            // 将指定IOItem写入板卡
            foreach (var replyIOData in monitorSet.ReplyIODatas)
            {
                //写入IO输出
                if (replyIOData.IOType == IOType.OUTPUT)
                {
                    GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
                }
                // in只读不能写
            }
            sw.Stop();
            LogAsync(DateTime.Now, $"{Name}反馈完成，耗时{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
        }

        protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
        {
            #region 警报信息
            Parallel.ForEach(IConfig.WarningSetCollection, wSet =>
            {
                MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

                bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);

                if (warningSet.CurrentStatus != isOn)
                {
                    warningSet.CurrentStatus = isOn;
                    warningSet.TriggerTime = DateTime.Now;
                    SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
                    ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
                }
            });
            #endregion

            #region 监听信息
            Parallel.ForEach(IConfig.MonitorSetCollection, mSet =>
            {
                MotionCardMonitorSet monitorSet = mSet as MotionCardMonitorSet;
                if (monitorSet.TriggerIndex < 0 || monitorSet.TriggerIndex > tempNew.Count)
                {
                    return;
                }

                var newIOItem = tempNew.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);
                var oldIOItem = tempOld.FirstOrDefault(u => u.IONum == monitorSet.TriggerIndex);

                if (newIOItem?.Value != oldIOItem?.Value)
                {
                    if (monitorSet.TriggerValue == -999 || (int)newIOItem.Value == monitorSet.TriggerValue)
                    {
                        if (monitorSet.OpConfig == null)
                        {
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value;
                        //}).ToList();

                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
                }
            });
            #endregion
        }

        public override void ResetAlarm()
        {
            int axis_sts;
            uint clk;
            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
            foreach (var axisSetting in axisSettings)
            {
                GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
                if ((axis_sts & 0x200) == 0)
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
                }
                // 位置请零
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {
                    // 负向移动
                    MovingOption movingOption = new MovingOption();
                    movingOption.AxisIndex = (short)axisSetting.AxisIndex;
                    movingOption.Destination = -50; // 负向移动
                    movingOption.VelocityPara.Velocity = 50;
                    P2PMoveAbs(movingOption);
                }

                // 负极限报警
                if ((axis_sts & 0x40) != 0)
                {
                    // 正向移动
                    MovingOption movingOption = new MovingOption();
                    movingOption.AxisIndex = (short)axisSetting.AxisIndex;
                    movingOption.Destination = 50; // 负向移动
                    movingOption.VelocityPara.Velocity = 50;
                    P2PMoveAbs(movingOption);
                }
            }

            // 清除状态
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        object _alarmLock = new object();
        private async void SaveAlarmCSVAsync(DateTime now, string plcName, IWarningSet ws)
        {
            await Task.Run(() =>
            {
                lock (_alarmLock)
                {
                    DirectoryInfo dir = new DirectoryInfo(this.IConfig.LogPath);
                    if (!dir.Exists)
                    {
                        dir.Create();
                    }

                    string path = Path.Combine(IConfig.LogPath, $"Alarm_{Name}_{now.ToString("yyyyMMdd")}.csv");
                    bool fileExist = File.Exists(path);

                    using (StreamWriter writer = new StreamWriter(path, true, System.Text.Encoding.UTF8))
                    {
                        if (!fileExist)
                        {
                            writer.WriteLine("Time,Source,AlarmCode,AlarmDescription,AlarmStatus");
                        }

                        writer.WriteLine($"{now.ToString("HH:mm:ss.fff")},{plcName},{ws.WarningCode},{ws.WarningDescription},{(ws.CurrentStatus ? "报警" : "停止")}");

                        writer.Flush();
                        writer.Close();
                    }
                }
            });
        }
        #endregion
    }
}