///
/// Copyright (c) 2013-2015 Sensus Metering Systems
///
using System;
using System.Text;
using System.Threading;
using System.Diagnostics;
using System.Collections.Generic;
using System.Windows.Forms;
using log4net;
using NHibernate;
using Config.Entities;
using TBF.BenchControl.Generic;
using TBF.BenchControl.GenericDevices;
using TBF.BenchControl.Sequences;
using Dirichlet.Numerics;

namespace TBF.BenchControl
{
	public class QuitStateMachineException : Exception
	{
	}

    /// <summary>
    /// This class controls real test bench behavior.
    /// It is based on a state machine
    /// </summary>
    public static class StateMachine
    {
		private static readonly ILog log = LogManager.GetLogger(typeof(StateMachine));
		private static readonly ILog wlog = LogManager.GetLogger(typeof(StateMachine));

		/// Private devices and components
		static IList<IComponent> components;		/// list of all components
		static IList<IDevice> devices;				/// list of devices
													/// 
		/// Bench paths
		static IList<Config.Entities.FeedingPath> feedingPaths;
		static IList<Config.Entities.BenchPath> benchPaths;
		static IList<Config.Entities.OutputPath> outputPaths;
		static IList<Config.Entities.MetersPath> metersPaths;
        static IList<Config.Entities.HeatMetersPath> heatMetersPaths;
        public static IList<Config.Entities.TransitionSequence> TransitionSequences;

		/// Public components
		public static Elde.ControlBoardDev ControlBoard;
		public static GenericDevices.IAmbient Ambient;
		public static GenericDevices.IBalance Balance1;
		public static GenericDevices.IBalance Balance2;
        public static GenericDevices.IBalance Balance3;
        public static GenericDevices.IValve EmptyTankValve1;
		public static GenericDevices.IValve EmptyTankValve2;
        public static GenericDevices.IValve EmptyTankValve3;
        public static IList<IValve> MasterValves;				/// list of directly controlled valves
		public static IList<IValve> CoupledValves;				/// list of coupled valves
		public static IList<Elde.ValveEx.Valve> ExtendedValves;	/// list of extended valves


        /// Time and synchronization
#if IPERLST
		public const int Period = 2;				/// State machine period in sec.
#else
        public const int Period = 1;				/// State machine period in sec.
#endif

		static DateTime startDateTime;				/// DateTime of time instance when the state machine worker thread starts
        static int currentTimeSec;					/// Time from the start of the state machine in seconds
        static bool quitStateMachine;				/// flag to stop the worker thread

        /// true when the state machine is running
        static bool stateMachineRunning;            
        public static bool Running { get { return stateMachineRunning; } }

		/// Worker thread and database session
        static Thread workerThread;
		public static ISession WtSession;

		static IList<State> states;					/// list of states

		public static DateTime CycleStartTimeStamp;

		public static IList<IValve> DefaultValvesOpen
		{
			get
			{
				return GenericDevices.ValveBase.Merge(
					Utils.ValvesOpen((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
					Utils.ValvesOpen((benchPaths != null && benchPaths.Count > 0)     ? benchPaths[0] : null),
					Utils.ValvesOpen((outputPaths != null && outputPaths.Count > 0)   ? outputPaths[0] : null)
					);
			}
		}

		public static IList<IValve> DefaultValvesClose
		{
			get
			{
                return GenericDevices.ValveBase.Merge(
					Utils.ValvesClose((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
					Utils.ValvesClose((benchPaths != null && benchPaths.Count > 0)     ? benchPaths[0] : null),
					Utils.ValvesClose((outputPaths != null && outputPaths.Count > 0)   ? outputPaths[0] : null)
					);
			}
		}

		/// <summary>
		/// Loaded by LoadProcedure() or IOperation LoadProcedureOp(...)
		/// </summary>
		public static Procedure Procedure;					/// Procedure
		public static IList<Test> Tests;					/// Tests


		/// Hardware devices connected to the PC controlling the bench.
		public static IList<IComponent> Components { get { return components; } }
		public static IList<IDevice> Devices { get { return devices; } }

        /// <summary>
        /// DateTime of time instance when the state machine worker thread starts
        /// </summary>
        public static DateTime StartDateTime { get { return startDateTime; } }

        /// <summary>
        /// Current state name
        /// </summary>
        public static int Time { get { return currentTimeSec; } }

        /// <summary>
        /// Constructor
        /// </summary>
        static StateMachine()
        {
            devices = new List<IDevice>();
			states = new List<State>();

            currentTimeSec = 0;
            quitStateMachine = false;
        }

		/// <summary>
		/// Add a device to the state machine.
		/// </summary>
		/// <param name="obj">Device</param>
		public static void AddDevice(IDevice device)
		{
			if (device != null && !devices.Contains(device)) devices.Add(device);
		}

        /// <summary>
        /// Add a state to the state machine.
		/// In this way a sequence can be created programtically.
        /// </summary>
        /// <param name="obj">State</param>
		public static void AddState(State state)
		{
			if (state != null && !states.Contains(state)) states.Add(state);
		}

        /// <summary>
        /// Remove the state from the state machine.
        /// </summary>
		/// <param name="obj">State</param>
		public static void RemoveState(State state)
        {
			if (state != null && state != State.CurrentState && states.Contains(state)) states.Remove(state);
        }

        /// <summary>
        /// Get a state from a label
        /// </summary>
        /// <param name="label"></param>
        /// <returns>The matching state or null</returns>
        static State GetStateFromLabel(string label)
        {
			if (label == null) return null;

            foreach (State state in states)
            {
                if (state.Label != null && state.Label.Equals(label)) return state;
            }
            return null;
        }

        /// <summary>
        /// Start the state machine in the state 'label' in a desired mode of operation.
        /// This method is called in the UI thread and creates a new state machine thread. 
        /// This method call should be embedded in: try { StateMachine.Start(...); } catch { }
        /// to handle configuration problems. Calls CreateDevices(mode) and CreateStates(). 
        /// </summary>
        /// <param name="mode">Mode of operation</param>
        /// <param name="benchData">A copy of bench data used by the state machine</param>
        /// <param name="label">Identifies the initial state</param>
#if DN100
		public static void InitializeBoardEtc(ControlCom2VB.ControlCom2panel ctrlBrdComponent)
#elif MUNICH || FUZHOU150
		public static void InitializeBoardEtc(ControlComponent3Munich.UserControl1 ctrlBrdComponent)
#elif FUZHOU300
        public static void InitializeBoardEtc(ControlComponent3F300.UserControl1 ctrlBrdComponent)
#elif PT200IL || PUCHONG_PT200 || GENESIS || BERLIN
		public static void InitializeBoardEtc(ControlComponent_Izrael2014.UserControl1 ctrlBrdComponent)
#else /// all newer benches
        public static void InitializeBoardEtc(ControlComponent_Torino2015.UserControl1 ctrlBrdComponent)
#endif
        {
            /// Load the list of components (entities) from the database.
			/// Then create the components (derived from IComponent).
			components = BenchControl.TbfComponents.LoadComponentsFromDB(Config.FluentCommon.CreateSession(Config.Entities.DBKind.Config));
			MasterValves = GenericDevices.ValveBase.MasterValves(components);
			CoupledValves = GenericDevices.ValveBase.CoupledValves(components);
			ExtendedValves = GenericDevices.ValveBase.ExtendedValves(components);

			/// Find all balances (to initialize tank capacities in the control board)
			/// Find the control board
			IList<IBalance> balances = new List<IBalance>();
            SequenceBase.FlowMeters = new List<IFlowMeter>();
            SequenceBase.RegulValves = new List<IRegulValve>();
            SequenceBase.PumpsWithFM = new List<IPumpFM>();
			SequenceBase.WaterMeters = new List<IWaterMeter>();
			SequenceBase.Cameras = new List<ICamera>();
            UInt128 valvesToInvert = 0;
			foreach (var cmpnt in components)
			{
                if (cmpnt is Elde.ControlBoardDev) ControlBoard = cmpnt as Elde.ControlBoardDev;
				if (cmpnt is IBenchInfo) ProcessData.BenchInfo = cmpnt as IBenchInfo;
                if (cmpnt is IFlowMeter) SequenceBase.FlowMeters.Add(cmpnt as IFlowMeter);
				if ((cmpnt is IRegulValve) && !(cmpnt is BenchControl.Elde.RegulValveTandem.RegulValveTandem))
				{
					SequenceBase.RegulValves.Add(cmpnt as IRegulValve);
				}
                if (cmpnt is IPumpFM) SequenceBase.PumpsWithFM.Add(cmpnt as IPumpFM);
                if (cmpnt is IWaterMeter) SequenceBase.WaterMeters.Add(cmpnt as IWaterMeter);
				if (cmpnt is ICamera) SequenceBase.Cameras.Add(cmpnt as ICamera);
				if (cmpnt is GenericDevices.IAmbient) Ambient = cmpnt as GenericDevices.IAmbient;
				if (cmpnt is IBalance)
				{
                    IBalance balance = cmpnt as IBalance;
                    balances.Add(balance);

                    if      (balance.BalanceNr == 0)    Balance1 = balance;
                    else if (balance.BalanceNr == 1)    Balance2 = balance;
                    else if (balance.BalanceNr == 2)    Balance3 = balance;
                }

                Elde.Valve.Valve eldeValve = (cmpnt as Elde.Valve.Valve);
                if ((eldeValve != null) && eldeValve.Inverted) valvesToInvert |= eldeValve.Mask;

				cmpnt.StartChangeHandler();		/// Start handling parameter change events
			}

			/// Create an array with tank capacities
			double[] tankCapacities = new double[balances.Count];
			for (int i = 0; i < tankCapacities.Length; i++) tankCapacities[i] = balances[i].Capacity;

			/// Pre-initialize the control board (= buffer the arguments ctrlBrdComponent, tankCapacities)
			if (ControlBoard != null)
			{
				ControlBoard.InitializeComponent(ctrlBrdComponent, valvesToInvert, tankCapacities);
			}
			else
			{
				throw new Exception("Control board component is missing");
			}
		}


        public static string CurrentlyInitializedDeviceName;
        /// 
        public static string InitializeDevices()
        {
            CurrentlyInitializedDeviceName = "-";

            bool anyComponentIsInSimulMode = false;
			StringBuilder inSimulMode = new StringBuilder();

			/// Add all devices to the state machine and initialize them
			foreach (var cmpnt in components)
			{
				if (cmpnt.DebugLevel == DebugMode.Simulate)
				{
					inSimulMode.AppendFormat("{0}{1}", anyComponentIsInSimulMode ? ", " : "", cmpnt.Name);
					anyComponentIsInSimulMode = true;
				}

                IDevice device = cmpnt as IDevice;
				if (device != null)
				{
                    CurrentlyInitializedDeviceName = device.Name;
                    device.Initialize();
					AddDevice(device);		        /// Only components that were initialized are added
				}
			}
            
            CurrentlyInitializedDeviceName = "---";

			/// Propagate debug levels from parents to children when necessary
			foreach (var cmpnt in components)
			{
				if (cmpnt.Cfg is IChildComponentCfg && !string.IsNullOrEmpty(cmpnt.Cfg.ParentName) &&
					(cmpnt.Cfg.DebugLevel == DebugMode.Inherit || cmpnt.Cfg.DebugLevel == DebugMode.AutoDetect))
				{
					foreach (var par in components)
					{
						if (par.Cfg.Name.Equals(cmpnt.Cfg.ParentName)) { cmpnt.Cfg.DebugLevel = par.Cfg.DebugLevel; break; }
					}
				}
			}

			if (anyComponentIsInSimulMode)
				return inSimulMode.ToString();
			else
				return null;
        }

		/// <summary>
		/// Stop devices that were started by InitializeDevices().
		/// Works correctly also after exeption from InitializeDevices() as only ...
		/// ... correctly started devices were added in 'devices' list.
		/// </summary>
		public static void StopDevices()
		{
			foreach (var dev in devices) dev.StopDevice();
		}


		/// <summary>
		/// Start the state machine 
		/// </summary>
		public static void Start()
		{
            if (stateMachineRunning) return;

            workerThread = new Thread(Worker);
			workerThread.CurrentCulture = Thread.CurrentThread.CurrentCulture;
			workerThread.CurrentUICulture = Thread.CurrentThread.CurrentUICulture;
			workerThread.Start();
            stateMachineRunning = true;
        }

		public static void LoadProcedure(bool loadPathsOnly)
		{
			ISession session = Config.FluentCommon.CreateSession(Config.Entities.DBKind.Config);
			WtSession = session;

			feedingPaths = session.QueryOver<Config.Entities.FeedingPath>().OrderBy(x => x.ItemNr).Asc.List();
            benchPaths   = session.QueryOver<Config.Entities.BenchPath>().OrderBy(x => x.ItemNr).Asc.List();
            outputPaths  = session.QueryOver<Config.Entities.OutputPath>().OrderBy(x => x.ItemNr).Asc.List();
            metersPaths  = session.QueryOver<Config.Entities.MetersPath>().OrderBy(x => x.ItemNr).Asc.List();
            TransitionSequences = session.QueryOver<TransitionSequence>().OrderBy(x => x.ItemNr).Asc.List();
#if HEAT_METERS_SUPPORT
            heatMetersPaths = session.QueryOver<Config.Entities.HeatMetersPath>().OrderBy(x => x.ItemNr).Asc.List();
#endif

            // Automatic detection of empty tank valves
			foreach (var opath in outputPaths)
			{
                if ((EmptyTankValve1 == null) && (Balance1 != null) && (opath.Balance == Balance1.Cfg.Name))
				{
					EmptyTankValve1 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
				}
                if ((EmptyTankValve2 == null) && (Balance2 != null) && (opath.Balance == Balance2.Cfg.Name))
                {
                    EmptyTankValve2 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
                }
                if ((EmptyTankValve3 == null) && (Balance3 != null) && (opath.Balance == Balance3.Cfg.Name))
                {
                    EmptyTankValve3 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
                }
            }
			
			if (loadPathsOnly) return;

			IList<Procedure> selectedProcs = session.QueryOver<Procedure>()
                                                    .Where(x => (x.ProcedureState == ProcedureState.Active))
                                                    .And(x => (x.Name == TBF.UiBridge.Bridge.SelectedProcedureName))
                                                    .List();

			if (selectedProcs.Count != 1) return;

			Procedure = selectedProcs[0];
			Tests = selectedProcs[0].Tests;
		}

		public static void LoadProcedureParams(Procedure procedure)
		{
			foreach (var cmpnt in components)
			{
                cmpnt.Cfg.UpdateProcedureParams(procedure);
			}
		}

		public static void LoadTestParams(Test test)
		{
			foreach (var cmpnt in components)
			{
				cmpnt.Cfg.UpdateTestParams(test);
			}
		}

        /// <summary>
        /// Processes the selection done by the bench control panel in the main sequence.
        /// </summary>
        /// <param name="selection">Selection.Q1, .Q2, .Q3 or .Test</param>
        /// <returns>The selected test or null</returns>
        public static Config.Entities.Test GetTest(Sequences.MainSeq.Selection selection)
        {
			if ((selection == Sequences.MainSeq.Selection.Q1) && (Tests.Count >= 1))
            {
				return Tests[0];
            }
			else if ((selection == Sequences.MainSeq.Selection.Q2) && (Tests.Count >= 2))
            {
				return Tests[1];
			}
			else if ((selection == Sequences.MainSeq.Selection.Q3) && (Tests.Count >= 3))
            {
				return Tests[2];
			}
            else if (selection == Sequences.MainSeq.Selection.Test || selection == Sequences.MainSeq.Selection.RestOfCycle)
            {
                foreach (var test in Tests)
                {
					if (Utils.TestTitle(test, 1).Equals(UiBridge.Bridge.SelectedTestName)) return test;
                }
            }
            return null;
        }

		/// <summary>
		/// Called from the sequence to update paths based on the selected test
		/// </summary>
		/// <param name="test">Selected test</param>
		/// <param name="pfeed"></param>
		/// <param name="pben"></param>
		/// <param name="pout"></param>
		/// <param name="pmtrs"></param>
		/// <param name="transitionBefore">Transition sequence entity</param>
		/// <param name="transitionAfter">Transition sequence entity</param>
		/// <param name="errorMsg">Error message in case of incorrect configuration</param>
		/// <returns>true when loaded configuration is correct (all four paths are defined !=null, etc.)</returns>
		public static bool GetPaths(Test test,
                                    bool heatMetersPathRequired,
									out FeedingPath pfeed,
                                    out BenchPath pben,
                                    out OutputPath pout,
                                    out MetersPath pmtrs,
                                    out HeatMetersPath phmtrs,
                                    out TransitionSequence transitionBefore,
                                    out TransitionSequence transitionAfter,
                                    out string errorMsg)
		{
			pfeed = null;
			pben = null;
			pout = null;
            phmtrs = null;
			transitionBefore = null;
			transitionAfter = null;

			foreach (var path in feedingPaths)
			{
				if (test.FeedingPath == path.Name) { pfeed = new FeedingPath(path, components); break; }
			}

			foreach (var path in benchPaths)
			{
				if (test.BenchPath == path.Name) { pben = new BenchPath(path, components); break; }
			}

			foreach (var path in outputPaths)
			{
				if (test.OutputPath == path.Name) { pout = new OutputPath(path, components); break; }
			}

			pmtrs = GetMetersPath(test);

            if ((pfeed == null) || (pben == null) || (pout == null) || (pmtrs == null))
            {
                errorMsg = "Cannot load paths";
                return false;
            }

#if HEAT_METERS_SUPPORT
            foreach (var path in heatMetersPaths)
            {
                if (test.HeatMetersPath == path.Name) { phmtrs = new HeatMetersPath(path, components); break; }
            }
#endif
            if (heatMetersPathRequired && phmtrs == null)
            {
                errorMsg = "Cannot load heat meters sensors";
                return false;
            }

            foreach (var tr in TransitionSequences)
			{
				if (tr.Name == test.RelTransBefore) transitionBefore = tr;
				if (tr.Name == test.TransitionAfter)   transitionAfter = tr;
			}

            if (pout.Balance == null)
            {
                errorMsg = string.Format("No balance specified in path {0}", test.OutputPath);
                return false;
            }

			if (Program.LocalSettings.RealDensity < 500.0f || Program.LocalSettings.RealDensity > 2000.0f)
			{
				errorMsg = string.Format("Density was not specified");
				return false;
			}

            errorMsg = string.Empty;
            return true;
		}


		/// <summary>
		/// Updates paths based on the selected test
		/// </summary>
		public static MetersPath GetMetersPath(Test test)
		{
			MetersPath pmtrs = null;
			foreach (var path in metersPaths)
			{
				if (test.MetersPath == path.Name) { pmtrs = new MetersPath(path, components); break; }
			}
			if (pmtrs != null)
			{
                int count = Math.Min(Config.Data.WMsCount, pmtrs.RegisterReaders.Length);
				for (int i = 0; i < count; i++)
				{
					if ((pmtrs.RegisterReaders[i] != null) &&
						(pmtrs.RegisterReaders[i].Cfg.DebugLevel == DebugMode.DetectedOff))
					{
						pmtrs.RegisterReaders[i] = null;
					}
				}
			}
			return pmtrs;
		}


		/// <summary>
		/// Stops the state machine (and the worker thread)
		/// </summary>
		public static void Stop()
		{
			if (stateMachineRunning) quitStateMachine = true;
		}


        /*
         * This is and example sequence of RunDeviceBefore() / RunOperations() / RunDeviceAfter() calls
         * as they are executed during normal run from the progran start to the end.
         * 
        foreach (var device in devices) device.RunDeviceBefore();  . . . . . .  in StateMachine.Worker()
        State.Create(...).AddOperation(...).AddOperation(...).EnterState() . .  in the sequence in Execute(...)

        foreach (var device in devices) device.RunDeviceAfter(); . . . . . . .  in WaitRunDevsRunOps()
        WaitNextTick()  (may throw QuitStateMachineException)  . . . . . . . .  in WaitRunDevsRunOps()
        foreach (var device in devices) device.RunDeviceBefore();  . . . . . .  in WaitRunDevsRunOps()
        IList<Event> events = State.RunOperations(); . . . . . . . . . . . . .  in WaitRunDevsRunOps()

        foreach (var device in devices) device.RunDeviceAfter(); . . . . . . .  in WaitRunDevsRunOps()
        WaitNextTick()  (may throw QuitStateMachineException)  . . . . . . . .  in WaitRunDevsRunOps()
        foreach (var device in devices) device.RunDeviceBefore();  . . . . . .  in WaitRunDevsRunOps()
        IList<Event> events = State.RunOperations(); . . . . . . . . . . . . .  in WaitRunDevsRunOps()

        State.Create(...).AddOperation(...).AddOperation(...).EnterState() . .  in the sequence in Execute(...)

        foreach (var device in devices) device.RunDeviceAfter(); . . . . . . .  in WaitRunDevsRunOps()
        WaitNextTick()  (may throw QuitStateMachineException)  . . . . . . . .  in WaitRunDevsRunOps()
        foreach (var device in devices) device.RunDeviceBefore();  . . . . . .  in WaitRunDevsRunOps()
        IList<Event> events = State.RunOperations(); . . . . . . . . . . . . .  in WaitRunDevsRunOps()

        foreach (var device in devices) device.RunDeviceAfter(); . . . . . . .  in WaitRunDevsRunOps()
        WaitNextTick()  (assume QuitStateMachineException thrown)  . . . . . .  in WaitRunDevsRunOps()
        State.StopOperations();  . . . . . . . . . . . . . . . . . . . . . . .  in StateMachine.Worker() catch()
        foreach (var device in devices) device.StopDevice(); . . . . . . . . .  in StateMachine.Worker() catch()
        */

        /// <summary>
        /// Worker thread: calls Start(), Run() and Stop() methods of operations.
        /// It uses 'currentState', 'nextState' and 'quitStateMachine' static fields.
        /// </summary>
        static void Worker()
        {
            startDateTime = DateTime.Now;
			CycleStartTimeStamp = startDateTime;	/// To prevent it is undefined

			wlog.InfoFormat("   currentTime = {0}s   startDateTime = {1}", currentTimeSec.ToString(), startDateTime.ToString());

            /// Run all devices for the first time
            foreach (var device in devices) device.RunDeviceBefore();

			try
			{
                SequenceBase.ReferenceFlowmetersCount = SequenceBase.FlowMeters.Count;
                SequenceBase.CalibratedLtrPerRefPulse = new float[SequenceBase.ReferenceFlowmetersCount];
                foreach (var flowmtr in SequenceBase.FlowMeters)
                {
                    int ix = flowmtr.Idx1;
                    if (ix > 0 && ix <= SequenceBase.ReferenceFlowmetersCount)
                    {
                        SequenceBase.CalibratedLtrPerRefPulse[ix - 1] = flowmtr.NominalFlow / 7200.0f;
                    }
                }

				(new Sequences.MainSeq()).Execute(null);
			}
			catch (QuitStateMachineException)
			{
                State.StopOperations();
                foreach (var device in devices) device.StopDevice();

                quitStateMachine = false;
                stateMachineRunning = false;
            }
        }


        /// <summary>
        /// Do stuff that is repeated in the state execution loops most often
        /// </summary>
        /// <returns>List of Event-s returned from the state operations</returns>
        public static IList<Event> WaitRunDevsRunOps()
        {
            foreach (var device in devices) device.RunDeviceAfter();
            WaitNextTick();
            foreach (var device in devices) device.RunDeviceBefore();
            IList<Event> events = State.RunOperations();
            return events;
            /// This is followed by a state change in the sequence
        }


        /// <summary>
        /// Wait time period - synchronize
        /// </summary>
        /// <returns>true when interrupted by 'quitStateMachine', otherwise false</returns>
        public static void WaitNextTick()
        {
            currentTimeSec += Period;

            TimeSpan timeFromStart = TimeSpan.FromSeconds(currentTimeSec);
            DateTime nextLoopDateTime = startDateTime + timeFromStart;
            while (DateTime.Now < nextLoopDateTime)
            {
                if (quitStateMachine)
                {
                    quitStateMachine = false;
                    wlog.Info("quitStateMachine == true ... going to stop the StateMachine()");
                    throw new QuitStateMachineException();
                }
                Thread.Sleep(100);
            }

            wlog.DebugFormat("   currentTime = {0}s", currentTimeSec);
        }
    }
}