#include "stdafx.h"
#include "MechnicalMonitor.h"
#include "IMotionEventReceiver.h"
#include "IPositionManager.h"
#include "LogicDriverThreadLocker.h"

using namespace DIOS::Dev::Detail::MachineryECOM;

MechnicalMonitor *MechnicalMonitor::m_instance = nullptr;

MechnicalMonitor::MechnicalMonitor() 
:m_positionManager(nullptr),
m_eventReceiver(nullptr),
m_monitorThread(nullptr),
m_monitorworkThread(nullptr),
m_notifyEventHandleCount(0),
m_waitEventHandleCount(0),
m_isMonitorStoped(TRUE), 
m_angleStopedNotifyTime(0),
m_heightStopedNotifyTime(0),
m_horizontalStopedNotifyTime(0),
m_dofTubeAngleAxis(TOMO_TUBE_ANGLE),
m_dofTubeHeightAxis(TOMO_TUBE_HEIGHT),
m_dofTubeHorizontalAxis(TOMO_TUBE_HORIZONTAL)
{
	for (int i = 0; i < MONITOR_NOTIFY_EVENT_MAX; ++i)
	{
		m_waitEventHandles[i] = nullptr;
	}

	for (int i = 0; i < MONITOR_NOTIFY_EVENT_MAX; ++i)
	{
		m_notifyEventHandles[i] = nullptr;
	}
}


MechnicalMonitor::~MechnicalMonitor()
{
	if (m_monitorThread)
	{
		m_monitorThread->StopThread();
	}

	if (m_monitorworkThread)
	{
		m_monitorworkThread->StopThread();
	}
}

MechnicalMonitor *MechnicalMonitor::Instance()
{
	if (m_instance == nullptr)
	{
		m_instance = new  MechnicalMonitor();
	}

	return m_instance;
}

void MechnicalMonitor::Initialize(IPositionManager *coordinates, int dofTubeAngleAxis, int dofTubeHeightAxis)
{
	m_positionManager = coordinates;
	m_dofTubeAngleAxis = dofTubeAngleAxis;
	m_dofTubeHeightAxis = dofTubeHeightAxis;

	HANDLE monitorThreadBeginEvent = CreateEvent(NULL, FALSE, FALSE, NULL);
	HANDLE monitorThreadEndEvent = CreateEvent(NULL, FALSE, FALSE, NULL);
	AddThreadWaitEventHandle(MONITOR_EVENT_WAIT_BEGIN_MONITOR,monitorThreadBeginEvent);
	AddThreadWaitEventHandle(MONITOR_EVENT_WAIT_END_MONITOR,monitorThreadEndEvent);

	HANDLE tubeAngleMotionStoped = CreateEvent(NULL, FALSE, FALSE, NULL);
	HANDLE tubeHeightMotionStoped = CreateEvent(NULL, FALSE, FALSE, NULL);
	HANDLE tubeHorizontalMotionStoped = CreateEvent(NULL, FALSE, FALSE, NULL);
	AddThreadNotifyEventHandle(MONITOR_EVENT_TUBEANGLE_MOVE_STOP, tubeAngleMotionStoped);
	AddThreadNotifyEventHandle(MONITOR_EVENT_TUBEHEIGHT_MOVE_STOP, tubeHeightMotionStoped);
	AddThreadNotifyEventHandle(MONITOR_EVENT_TUBEHORIZONTAL_MOVE_STOP, tubeHorizontalMotionStoped);

	m_monitorThread = new MotionMonitorThread();
	m_monitorThread->Initialize(this);
	m_monitorThread->StartThread();

	m_monitorworkThread = new MotionMonitorWorkThread();
	m_monitorworkThread->Initialize(this);
	m_monitorworkThread->StartThread();
}

void MechnicalMonitor::AddThreadNotifyEventHandle(const std::string &name, HANDLE eventHandle)
{
	m_notifyEventsIndexNameMap[m_notifyEventHandleCount] = name;
	m_notifyEventHandles[m_notifyEventHandleCount++] = eventHandle;
}

void MechnicalMonitor::AddThreadWaitEventHandle(const std::string &name, HANDLE eventHandle)
{
	m_waitEventsIndexNameMap[m_waitEventHandleCount] = name;
	m_waitEventHandles[m_waitEventHandleCount++] = eventHandle;
}

void MechnicalMonitor::BeginMonitor(IMotionEventReceiver *receiver, int offset)
{
	m_eventReceiver = receiver;

	if (offset == MO_TUBE_ANGLE)
	{
		InterlockedIncrement((LONG*)&m_angleStopedNotifyTime);
	}
	else if (offset == MO_TUBE_HEIGHT)
	{
		InterlockedIncrement((LONG*)&m_heightStopedNotifyTime);
	}
	else if (offset == MO_TUBE_HORIZONTAL)
	{
		InterlockedIncrement((LONG*)&m_horizontalStopedNotifyTime);
	}
	else
	{
		InterlockedIncrement((LONG*)&m_angleStopedNotifyTime);
		InterlockedIncrement((LONG*)&m_heightStopedNotifyTime);
		InterlockedIncrement((LONG*)&m_horizontalStopedNotifyTime);
	}

	if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][BeginMonitor]->[{$:d} {$:d} {$:d}]", m_angleStopedNotifyTime, m_heightStopedNotifyTime, m_horizontalStopedNotifyTime);

	SetEvent(m_waitEventHandles[0]);
}

void MechnicalMonitor::EndMonitor()
{
	SetEvent(m_waitEventHandles[1]);
}

void MechnicalMonitor::ReceiveEvent(const std::string &name)
{
	//LogicDriverThreadLocker::Instance()->Lock();

	if (m_eventReceiver)
	{
		if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][ReceiveEvent]->[{$}]", name.c_str());

		m_eventReceiver->OnMotionEvent(name);
	}

	//LogicDriverThreadLocker::Instance()->UnLock();
}

void MechnicalMonitor::OnStartMonitorInThread()
{
	if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][OnStartMonitorInThread]");

	//轮询球管高度/角度编码器值的变化，直至为 0，并通知work线程

	long presionSensor = 2L;


	InterlockedExchange((LONG *)&m_isMonitorStoped,FALSE);

	auto lastanglesensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)m_dofTubeAngleAxis);
	auto lastheightsensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)m_dofTubeHeightAxis);
	auto lasthorizontalsensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)TOMO_TUBE_HORIZONTAL);

	while (!m_isMonitorStoped && (m_angleStopedNotifyTime > 0 || m_heightStopedNotifyTime > 0 || m_horizontalStopedNotifyTime > 0))
	{
		Sleep(300);

		if (!m_notifyEventHandles[0])
		{
			InterlockedDecrement((LONG*)&m_angleStopedNotifyTime);
		}

		if (!m_notifyEventHandles[1])
		{
			InterlockedDecrement((LONG*)&m_heightStopedNotifyTime);
		}

		if (!m_notifyEventHandles[2])
		{
			InterlockedDecrement((LONG*)&m_horizontalStopedNotifyTime);
		}

		auto currentanglesensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)m_dofTubeAngleAxis);
		if (m_angleStopedNotifyTime > 0 && (abs((long)currentanglesensor - (long)lastanglesensor) < presionSensor))
		{
			InterlockedDecrement((LONG*)&m_angleStopedNotifyTime);

			if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][OnStartMonitorInThread]->[Notify TubeAngle Stop.]");

			SetEvent(m_notifyEventHandles[0]);
		}

		lastanglesensor = currentanglesensor;

		auto currentheightsensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)m_dofTubeHeightAxis);
		if (m_heightStopedNotifyTime > 0 && (abs((long)currentheightsensor - (long)lastheightsensor) < presionSensor))
		{
			InterlockedDecrement((LONG*)&m_heightStopedNotifyTime);

			if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][OnStartMonitorInThread]->[Notify TubeHeight Stop.]");

			SetEvent(m_notifyEventHandles[1]);
		}

		lastheightsensor = currentheightsensor;

		long adTolerance = 1L;
		auto currenthorizontalsensor = m_positionManager->GetCurrentSensorValue((DOF_MECH)m_dofTubeHorizontalAxis);
		if (m_horizontalStopedNotifyTime > 0 && (abs((long)currenthorizontalsensor - (long)lasthorizontalsensor) < adTolerance))
		{
			InterlockedDecrement((LONG*)&m_horizontalStopedNotifyTime);

			if (gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][OnStartMonitorInThread]->[Notify TubeHorizontal Stop.]");

			SetEvent(m_notifyEventHandles[2]);
		}

		lasthorizontalsensor = currenthorizontalsensor;

		if(gbusinessLog) gbusinessLog->Info("[MechnicalMonitor][CurrentMonitorValues]->[Angle:{$:d}, Height:{$:d}, Horizontal:{$:d}]", currentanglesensor, currentheightsensor, currenthorizontalsensor);
	}

	InterlockedExchange((LONG *)&m_isMonitorStoped, TRUE);
}

void MechnicalMonitor::OnStopMonitorInThread()
{
	//停止轮询球管高度/角度编码器值
	InterlockedExchange((LONG *)&m_isMonitorStoped, TRUE);
}

bool MechnicalMonitor::OnMotionMonitorThreadExecute()
{
	if (m_waitEventHandleCount <= 0 || m_waitEventHandleCount > MONITOR_NOTIFY_EVENT_MAX)
	{
		return false;
	}

	while (true)
	{
		auto waitResult = ::WaitForMultipleObjects(m_waitEventHandleCount, m_waitEventHandles, FALSE, INFINITE);
		auto eventIndex = waitResult - WAIT_OBJECT_0;
		if (m_waitEventsIndexNameMap.find(eventIndex) != m_waitEventsIndexNameMap.end())
		{
			auto eventName = m_waitEventsIndexNameMap[eventIndex];
			if (eventName == MONITOR_EVENT_WAIT_BEGIN_MONITOR)
			{
				if (!m_isMonitorStoped)
				{				
					continue;
				}
				OnStartMonitorInThread();
			}
			else if (eventName == MONITOR_EVENT_WAIT_END_MONITOR)
			{
				OnStopMonitorInThread();
			}
			else
			{

			}

		}
	}

	return true;
}

bool MechnicalMonitor::OnMotionMonitorWorkThreadExecute()
{
	if (m_notifyEventHandleCount <= 0 || m_notifyEventHandleCount > MONITOR_NOTIFY_EVENT_MAX)
	{
		return false;
	}

	while (true)
	{
		auto waitResult = ::WaitForMultipleObjects(m_notifyEventHandleCount, m_notifyEventHandles, FALSE, INFINITE);
		auto eventIndex = waitResult - WAIT_OBJECT_0;
		if (m_notifyEventsIndexNameMap.find(eventIndex) != m_notifyEventsIndexNameMap.end())
		{
			auto eventName = m_notifyEventsIndexNameMap[eventIndex];
			ReceiveEvent(eventName);
		}
	}
}

void MotionMonitorThread::Initialize(MechnicalMonitor *monitor)
{
	m_monitor = monitor;
}

bool MotionMonitorThread::Exec()
{
	if (!m_monitor)
	{
		return false;
	}

	std::thread::id this_id = std::this_thread::get_id();
	unsigned int t = *(unsigned int*)&this_id;// threadid 转成 unsigned int

	printf("MotionMonitorThread ID: %d\n", t);
	return m_monitor->OnMotionMonitorThreadExecute();
}

void MotionMonitorWorkThread::Initialize(MechnicalMonitor *monitor)
{
	m_monitor = monitor;
}

bool MotionMonitorWorkThread::Exec()
{
	if (!m_monitor)
	{
		return false;
	}
	std::thread::id this_id = std::this_thread::get_id();
	unsigned int t = *(unsigned int*)&this_id;// threadid 转成 unsigned int
	printf("MotionMonitorWorkThread ID: %d\n", t);
	return m_monitor->OnMotionMonitorWorkThreadExecute();
}