using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Web.Script.Serialization;
using AGVControl;
using RestSharp;

namespace BLL
{
    public class Control
    {
        private bool loop;
        //private int areaC_Index;
        private Thread tAgvCall;
        private Thread tAgvState;
        //public List<string> Marks;
        private const int REG_STATUS = 20;
        //private List<string> shelfLockedNodeNames;
        public delegate void AgvChangedEvent(int agvIndex);
        public event AgvChangedEvent AgvChanged;
        public event AgvChangedEvent AgvOnline;

        public Control()
        {

        }

        public void Start()
        {
            loop = true;
            tAgvState = new Thread(new ThreadStart(AgvState));
            tAgvCall = new Thread(new ThreadStart(AgvCall));
            tAgvState.Start();
            tAgvCall.Start();
        }

        public void Stop()
        {
            loop = false;
        }



        private void AgvState()
        {
            bool rtn;

            while (loop)
            {
                Thread.Sleep(1000);

                for (int i = 0; i < Common.agvInfo.Count; i++)
                {
                    if (!CheckOnline(i)) continue;
                    if (!loop) break;

                    //获取AGV状态
                    rtn = Common.mir.Get_State(Common.agvInfo[i], out int stateID, out string stateText, out int battery, out string mission_text);
                    Common.log.Info(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text));
                    if (rtn) Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text);

                    //获取地点任务状态
                    Thread.Sleep(50);
                    rtn = Common.mir.Get_Register(Common.agvInfo[i], REG_STATUS, out int regValue);
                    Common.log.Info(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue));
                    if (rtn) Common.agvInfo[i].GetPlace(regValue);

                    //执行任务更新状态
                    if (stateID == 5)
                    {
                        AgvChanged?.Invoke(i);
                    }







                    //获取任务队列
                    //rtn = Common.mir.Get_Mission_Queue(Common.agvInfo[i], out List<string> mission);
                    //if (rtn)
                    //{
                    //    string[] arr = new string[mission.Count];
                    //    for (int j = 0; j < mission.Count; j++)
                    //        arr[j] = Common.agvMission.FirstOrDefault(q => q.Value == mission[j]).Key;
                    //    string missionKey = string.Join(",", arr);
                    //    if (Common.agvInfo[i].MissionQueue != missionKey)
                    //    {
                    //        Common.agvInfo[i].MissionQueue = missionKey;
                    //        AgvChanged?.Invoke(i);
                    //    }
                    //}

                }
            }
        }

        private void AgvCall()
        {
            while (loop)
            {
                Thread.Sleep(1000);

                for (int i = 0; i < Common.agvInfo.Count; i++)
                {
                    if (!loop) break;
                    if (!Common.agvInfo[i].IsCon) continue;   //AGV网络连接
                    if (!Common.agvInfo[i].IsUse) continue;   //AGV是否可用

                    //Ready,Pause,Executing
                    if (Common.agvInfo[i].StateID != 3 && Common.agvInfo[i].StateID != 4 && Common.agvInfo[i].StateID != 5)
                    {
                        Common.log.Info(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText));
                        continue;
                    }

                    switch (Common.agvInfo[i].PlaceState)
                    {
                        case PlaceState.None:
                            StateNone(i);
                            break;
                        case PlaceState.Move:
                            StateMove(i);
                            break;
                        case PlaceState.MoveFinish:
                            StateMoveFinish(i);
                            break;
                        case PlaceState.Enter:
                            StateEnter(i);
                            break;
                        case PlaceState.EnterFinish:
                            StateEnterFinish(i);
                            break;
                        case PlaceState.Leave:
                            StateLeave(i);
                            break;
                        case PlaceState.LeaveFinish:
                            StateLeaveFinish(i);
                            break;
                        case PlaceState.Error:
                            StateError(i);
                            break;
                    }
                }
            }
        }

        private bool CheckOnline(int idx)
        {
            bool rtn = Common.mir.CheckIP(Common.agvInfo[idx].IP);
            if (rtn)
            {
                if (!Common.agvInfo[idx].IsCon)
                {
                    Common.agvInfo[idx].IsCon = true;
                    Common.log.Info(Common.agvInfo[idx].Name + " Online");
                    AgvOnline?.Invoke(idx);
                    AgvChanged?.Invoke(idx);
                }
            }
            else
            {
                if (Common.agvInfo[idx].IsCon)
                {
                    Common.agvInfo[idx].IsCon = false;
                    Common.log.Info(Common.agvInfo[idx].Name + " Offline");
                    AgvOnline?.Invoke(idx);
                    AgvChanged?.Invoke(idx);
                }
            }
            return rtn;
        }

        private void StateNone(int idx)
        {
            bool rtn;
            int index;
            Agv_Info agv = Common.agvInfo[idx];
            if (agv.TaskSend != "") return;

            //出满料
            rtn = FindA6Leave(out string nextNode);
            if (rtn)
            {
                rtn = Common.mir.Add_Mission(agv, Common.agvMission["MoveA6"]);
                if (rtn)
                {
                    agv.NextPlace = nextNode;
                    index = FindNode("A6");
                    Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
                    index = FindNode(nextNode);
                    Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
                }
                agv.TaskSend = rtn ? "MoveA6" : "";
                return;
            }

            //出空料架
            for (int i = 0; i < Common.linePlace.Count; i++)
            {
                string name = Common.linePlace[i];
                index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.Action == ClientAction.NeedLeave && s.IsUse);
                if (index > -1)
                {
                    rtn = Common.mir.Add_Mission(agv, Common.agvMission["Move" + name]);
                    if (rtn)
                    {
                        Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
                        Common.linePlace.RemoveAt(i);
                    }
                    agv.TaskSend = rtn ? "Move" + name : "";
                }
                if (rtn) break;
            }
        }

        private void StateMove(int idx)
        {
        }

        private void StateMoveFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {
                case "A5":
                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                    }
                    else
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                    }
                    break;
                case "A6":
                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                    }
                    else if (node.Action == ClientAction.MayLeave)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                    }
                    else if (node.Action == ClientAction.NeedEnter)
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                    }
                    else if (node.Action == ClientAction.NeedLeave)
                    {
                        rtn = Common.server.ReadyLeave(agv.Place);
                        if (!rtn) return;
                    }
                    else if (node.Action == ClientAction.NeedEnterLeave)
                    {
                        //rtn = Common.server.ReadyLeave(agv.Place);
                        //if (!rtn) return;
                    }
                    break;
                case "E1":
                case "E2":
                case "E3":
                case "E4":
                case "E5":
                case "E6":
                case "E7":
                case "E8":
                case "E9":
                case "E10":
                case "E11":
                case "E12":
                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                    }
                    else if (node.Action == ClientAction.MayLeave)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                    }
                    else if (node.Action == ClientAction.NeedEnter)
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                    }
                    else if (node.Action == ClientAction.NeedLeave)
                    {
                        rtn = Common.server.ReadyLeave(agv.Place);
                        if (!rtn) return;
                    }
                    break;
            }

        }

        private void StateEnter(int idx)
        {
        }

        private void StateEnterFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {

                case "A6":
                    if (node.Action == ClientAction.FinishLeave)
                    {
                    }
                    break;
            }

        }

        private void StateLeave(int idx)
        {
        }

        private void StateLeaveFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {
                case "A5":
                    if (node.Action == ClientAction.FinishEnter)
                    {
                    }
                    break;
                case "A6":
                    if (node.Action == ClientAction.FinishEnter)
                    {
                    }
                    break;
            }
        }

        private void StateError(int idx)
        {
        }

        private int FindNode(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
            return idx;
        }

        private bool FindA6Leave(out string nextNode)
        {
            nextNode = "";
            int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals("A6") && (s.Action == ClientAction.NeedLeave || s.Action == ClientAction.NeedEnterLeave) && s.IsUse);
            if (idx == -1) return false;

            bool rtn = FindA6Destination(Common.nodeInfo[idx].RFID, out string dest);
            if (!rtn) return false;

            idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(dest) && s.Action == ClientAction.NeedEnter && s.IsUse);
            if (idx == -1)
            {
                return false;
            }
            else
            {
                nextNode = dest;
                return true;
            }

        }

        private bool FindA6Destination(string rfid, out string dest)
        {
            dest = "";
            try
            {
                string url = Common.itsHttp + rfid;
                var client = new RestClient(url) { Timeout = -1 };
                var request = new RestRequest(Method.GET);
                //request.AddHeader("Host", "10.85.17.233");
                IRestResponse response = client.Execute(request);
                string json = response.Content;
                json = json.Replace("\r", "");
                json = json.Replace("\n", "");
                json = json.Replace(" ", "");
                Common.log.Info("URL: " + url + "\r\nReturn: " + json);

                if (string.IsNullOrWhiteSpace(json)) return false;
                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null) return false;

                bool b1 = dic.TryGetValue("id", out object id);
                bool b2 = dic.TryGetValue("location", out object location);

                if (b1 && b2)
                {
                    if (id.ToString() == rfid)
                    {
                        if (Common.agvProductionLine.TryGetValue(location.ToString(), out string loc))
                        {
                            dest = loc;
                            return true;
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("FindA6Destination", ex);
                return false;
            }
        }



    }
}