using System;
using System.Collections.Generic;
using static Step.Utils.Constants;
using static Step.Config.StartupConfig;
using CMS_CORE;
using CMS_CORE.Demo;
using CMS_CORE.Fanuc;
using CMS_CORE.Siemens;
using CMS_CORE.Osai;
using Step.Model.DTOModels;
using System.Globalization;
using static Step.Utils.ExceptionManager;
using static CMS_CORE.Nc;

namespace Step.NC
{
    public class NcHandler : IDisposable
    {
        public Nc numericalControl;

        public NcHandler()
        {
            // Choose NC
            numericalControl = SetNumericalControl();
        }

        public CmsError Connect()
        {
            // Connect NC
            if (!numericalControl.NC_IsConnected())
                return numericalControl.NC_Connect();

            return null;
        }


        public Nc SetNumericalControl()
        {
            // Return new Numerical control instance choosed from the configuration
            switch (NcConfig.NcVendor)
            {
                case NC_VENDOR.DEMO:
                    return new Nc_Demo(NcConfig.NcIpAddress, NcConfig.NcPort);
                case NC_VENDOR.FANUC:
                    return new Nc_Fanuc(NcConfig.NcIpAddress, NcConfig.NcPort, 2000);
                case NC_VENDOR.SIEMENS:
                    return new Nc_Siemens(2000);
                case NC_VENDOR.OSAI:
                    return new Nc_Osai(NcConfig.NcIpAddress, NcConfig.NcPort, 2000);
            }
            return null;
        }

        public CmsError GetNcGenericData(out DTONcGenericDataModel genericData)
        {
            genericData = new DTONcGenericDataModel();

            // Get date time
            DateTime dateTime = new DateTime();
            CmsError cmsError = numericalControl.NC_RDateTime(ref dateTime);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.DateTime = dateTime;

            // Get language
            CultureInfo lang = new CultureInfo("en");
            cmsError = numericalControl.NC_RLanguage(ref lang);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.Language = lang;

            string tmpInfo = "";
            // Get serial number
            cmsError = numericalControl.NC_RSerialNumber(ref tmpInfo);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.SerialNumber = tmpInfo;

            // Get software version
            numericalControl.NC_RSoftwareVersion(ref tmpInfo);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.SoftwareVersion = tmpInfo;

            // Get model name
            numericalControl.NC_RModelName(ref tmpInfo);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.Model = tmpInfo;

            // Get machine number
            numericalControl.NC_RMachineNumber(ref tmpInfo);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.MachineNumber = tmpInfo;

            // Get max process number
            ushort procNum = 0;
            numericalControl.NC_RProcessesNum(ref procNum);
            if (cmsError.errorCode != 0)
                return cmsError;

            genericData.ProcessNumber = procNum;

            return cmsError;
        }

        public CmsError GetNcAlarms(out DTOAlarmsModel alarms)
        {
            alarms = new DTOAlarmsModel();
            List<string> tmpAlarms = new List<string>();
            
            // Read NC active alarms
            CmsError cmsError = numericalControl.NC_RActiveAlarms(ref tmpAlarms);
            if (cmsError.errorCode != 0)
                return cmsError;

            // Create response list from strings
            foreach (string alarmMessage in tmpAlarms)
            {
                alarms.NcAlarms.Add(new GenericAlarmModel()
                {
                    alarmMessage = alarmMessage,
                });
            }

            // Get NC max process number
            ushort maxProcNumber = 0;
            cmsError = numericalControl.NC_RProcessesNum(ref maxProcNumber);
            if (cmsError.errorCode != 0)
                return cmsError;

            // For each process 
            for (ushort i = 1; i <= maxProcNumber; i++)
            {
                // Get process active alarms
                numericalControl.PROC_RActiveAlarms(i, ref tmpAlarms);
                // Create response list from strings
                foreach (string alarmMessage in tmpAlarms)
                {
                    alarms.ProcessAlarms.Add(new ProcessAlarmModel()
                    {
                        alarmMessage = alarmMessage,
                        process = i
                    });
                }
            }

            // Read PLC Active Messages
            cmsError = numericalControl.PLC_RActiveMessages(ref tmpAlarms);
            if (cmsError.errorCode != 0)
                return cmsError;

            // Formatting response list from strings
            foreach (string alarmMessage in tmpAlarms)
            {
                alarms.PlcAlarms.Add(new GenericAlarmModel()
                {
                    alarmMessage = alarmMessage,
                });
            }

            return cmsError;
        }

        public CmsError GetAxesPositions(out List<DTOAxesModel> axes)
        {
            axes = new List<DTOAxesModel>();


            // Get NC max process number
            ushort maxProcNumber = 0;
            CmsError cmsError = numericalControl.NC_RProcessesNum(ref maxProcNumber);
            if (cmsError.errorCode != 0)
                return cmsError;

            // For each process 
            for (ushort i = 1; i <= maxProcNumber; i++)
            {
                cmsError = GetAxesPositionsByProcess(i, out DTOAxesModel axis);
                if (cmsError.errorCode != 0)
                    return cmsError;

                axes.Add(axis);
            }

            return cmsError;
        }

        public CmsError GetAxesPositionsByProcess(ushort processNum, out DTOAxesModel axes)
        {
            
            axes = new DTOAxesModel();

            CmsError cmsError = numericalControl.AXES_RInterpPosition(processNum, ref axes.interpolated);
            if (cmsError.errorCode != 0)
                return cmsError;

            numericalControl.AXES_RMachinePosition(processNum, ref axes.machine);
            if (cmsError.errorCode != 0)
                return cmsError;

            numericalControl.AXES_RProgrPosition(processNum, ref axes.programmePos);
            if (cmsError.errorCode != 0)
                return cmsError;

            numericalControl.AXES_RDistanceToGo(processNum, ref axes.toGo);
            if (cmsError.errorCode != 0)
                return cmsError;

            //numericalControl.AXES_RFollowingError(1, ref axes.followingErr);

            return cmsError;
        }


        public void Dispose()
        {
            numericalControl.NC_Disconnect();
        }
    }
}