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

namespace BLL
{
    public class MiR_API
    {
        private const int httpTimeout = 5000;

        public MiR_API()
        {
        }

        /// <summary>
        /// 获取IO模块guid列表
        /// </summary>
        /// <param name="info"></param>
        /// <param name="guid"></param>
        /// <returns></returns>
        //public bool Get_IO_Modules(AGVControl.Agv_Info info, out string[] guid)
        //{
        //    try
        //    {
        //        guid = null;
        //        string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";

        //        string json = HttpGet(url, info.IP, info.Authorization);
        //        //log.OutInfo("URL: " + url+"\n"+"Return: " + json);
        //        if (string.IsNullOrWhiteSpace(json)) return false;

        //        JavaScriptSerializer serializer = new JavaScriptSerializer();
        //        object[] obj = (object[])serializer.DeserializeObject(json);
        //        if (obj == null) return false;
        //        guid = new string[obj.Length];

        //        for (int i = 0; i < obj.Length; i++)
        //        {
        //            Dictionary<string, object> dic = (Dictionary<string, object>)obj[i];
        //            guid[i] = dic["guid"].ToString();
        //        }
        //        return true;
        //    }
        //    catch (Exception ex)
        //    {
        //        guid = null;
        //        Common.log.Error("Get_IO_Modules", ex);
        //        return false;
        //    }

        //}

        /// <summary>
        /// 获取IO模块的状态
        /// </summary>
        /// <param name="info"></param>
        /// <param name="input"></param>
        /// <param name="output"></param>
        /// <returns></returns>
        //public bool Get_IO_Status(Agv_Info info, out bool[] input, out bool[] output)
        //{
        //    try
        //    {
        //        input = null;
        //        output = null;
        //        string url = "http://" + info.IP + "/api/v2.0.0/io_modules/" + info.IOID + "/status";

        //        string json = HttpGet(url, info.IP, info.Authorization);
        //        //log.OutInfo("URL: " + url + "\n" + "Return: " + 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;

        //        object[] objInput = (object[])dic["input_state"];
        //        input = new bool[objInput.Length];
        //        for (int i = 0; i < input.Length; i++)
        //            input[i] = Convert.ToBoolean(objInput[i]);

        //        object[] objOutput = (object[])dic["output_state"];
        //        output = new bool[objOutput.Length];
        //        for (int i = 0; i < output.Length; i++)
        //            output[i] = Convert.ToBoolean(objOutput[i]);

        //        return true;
        //    }
        //    catch (Exception ex)
        //    {
        //        input = null;
        //        output = null;
        //        //Common.log.Error("", ex);
        //        return false;
        //    }
        //}

        /// <summary>
        /// 获取PLC寄存器的内容
        /// </summary>
        /// <param name="info"></param>
        /// <param name="reg"></param>
        /// <param name="regValue"></param>
        /// <returns></returns>
        public bool Get_Register(Agv_Info info, int reg, out int regValue)
        {
            try
            {
                regValue = -1;
                string url = "http://" + info.IP + "/api/v2.0.0/registers/" + reg + "?whitelist=value";
                string json = HttpGet(url, info.IP, info.Authorization);
                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;

                string s = dic["value"].ToString();
                float f = Convert.ToSingle(s);
                regValue = Convert.ToInt32(f);
                return true;
            }
            catch (Exception ex)
            {
                regValue = -1;
                Common.log.Error("Get_Register", ex);
                return false;
            }
        }

        /// <summary>
        /// 设置PLC寄存器的内容
        /// </summary>
        /// <param name="info"></param>
        /// <param name="reg"></param>
        /// <param name="regValue"></param>
        /// <returns></returns>
        public bool Set_Register(Agv_Info info, int reg, int regValue)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/registers/" + reg;
                string body = "{\"value\": " + regValue + "}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                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;

                string s = dic["value"].ToString();
                float f = Convert.ToSingle(s);
                if (regValue == Convert.ToInt32(f))
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("Set_Register", ex);
                return false;
            }
        }

        /// <summary>
        /// 添加任务到任务队列
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission_id"></param>
        /// <returns></returns>
        public bool Add_Mission(Agv_Info info, string mission_id)
        {
            try
            {
                //防止上一个任务已执行但返回失败时，删除任务
                Del_Mission(info);

                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
                string body = "{\"mission_id\":\"" + mission_id + "\"}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                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;

                string s = dic["mission_id"].ToString();
                if (s == mission_id)
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("Add_Mission", ex);
                return false;
            }
        }

        /// <summary>
        /// 添加任务到任务队列
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission_id"></param>
        /// <returns></returns>
        public bool Add_Mission_Fleet(Agv_Info info, string mission_id)
        {
            try
            {
                //防止上一个任务已执行但返回失败时，删除任务
                Del_Mission(info);

                string ip = Common.appConfig.AppSettings.Settings["FLEET"].Value;
                string url = "http://" + ip + "/api/v2.0.0/mission_scheduler";
                string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + "}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                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;

                string s = dic["mission_id"].ToString();
                if (s == mission_id)
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("Add_Mission_Fleet", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取所有任务列表
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission">任务（名称，guid）</param>
        /// <returns></returns>
        public bool Get_Mission(Agv_Info info, out Dictionary<string, string> mission)
        {
            mission = null;
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/missions/search?whitelist=guid,name";
                string body = "{\"filters\" :[]}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                object[] obj = (object[])serializer.DeserializeObject(json);
                if (obj == null) return false;
                mission = new Dictionary<string, string>();

                for (int i = 0; i < obj.Length; i++)
                {
                    Dictionary<string, object> dic = (Dictionary<string, object>)obj[i];
                    mission.Add(dic["name"].ToString(), dic["guid"].ToString());
                }
                return true;
            }
            catch (Exception ex)
            {
                Common.log.Error("Get_Mission", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取当前任务队列guid
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission"></param>
        /// <returns></returns>
        public bool Get_Mission_Queue(Agv_Info info, out List<string> mission)
        {
            mission = null;
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue/search";
                string body = "{\"filters\" : [{\"fieldname\": \"state\", \"operator\": \"IN\", \"value\": [\"Pending\", \"Executing\"]}]}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                object[] obj = (object[])serializer.DeserializeObject(json);
                if (obj == null) return false;

                mission = new List<string>();
                Dictionary<string, object> dic;
                for (int i = 0; i < obj.Length; i++)
                {
                    dic = (Dictionary<string, object>)obj[i];
                    mission.Add(dic["id"].ToString());
                }

                for (int i = 0; i < mission.Count; i++)
                {
                    url = "http://" + info.IP + "/api/v2.0.0/mission_queue/" + mission[i];
                    json = HttpGet(url, info.IP, info.Authorization);
                    serializer = new JavaScriptSerializer();
                    dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                    mission[i] = dic["mission_id"].ToString();
                }

                return true;
            }
            catch (Exception ex)
            {
                Common.log.Error("Get_Mission_Queue", ex);
                return false;
            }
        }

        /// <summary>
        /// 删除当前所有任务
        /// </summary>
        /// <param name="info"></param>
        public void Del_Mission(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
                HttpDel(url, info.IP, info.Authorization);
            }
            catch (Exception ex)
            {
                Common.log.Error("Del_Mission", ex);
            }
        }

        /// <summary>
        /// 获取当前小车状态
        /// </summary>
        /// <param name="info"></param>
        /// <param name="stateID"></param>
        /// <param name="stateText"></param>
        /// <param name="battery"></param>
        /// <param name="mission_text"></param>
        /// <returns></returns>
        public bool Get_State(Agv_Info info, out int stateID, out string stateText, out int battery, out string mission_text)
        {
            stateID = -1;
            stateText = "";
            battery = 0;
            mission_text = "";

            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text";
                string json = HttpGet(url, info.IP, info.Authorization);
                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;

                stateID = Convert.ToInt32(dic["state_id"].ToString());
                stateText = dic["state_text"].ToString();
                mission_text = dic["mission_text"].ToString();
                string s = dic["battery_percentage"].ToString();
                float f = Convert.ToSingle(s);
                battery = Convert.ToInt32(f);
                return true;
            }
            catch (Exception ex)
            {
                Common.log.Error("Get_State", ex);
                return false;
            }
        }

        /// <summary>
        /// 小车状态改为Ready
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public bool State_Ready(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";
                string body = "{\"state_id\": 3}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                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;

                string s = dic["state_id"].ToString();
                if (s == "3")
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("State_Ready", ex);
                return false;
            }
        }

        /// <summary>
        /// 小车状态改为Pause
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public bool State_Pause(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";
                string body = "{\"state_id\": 4}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                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;

                string s = dic["state_id"].ToString();
                if (s == "4")
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("State_Pause", ex);
                return false;
            }
        }

        /// <summary>
        /// 清除错误
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public bool Clear_Error(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status";
                string body = "{\"clear_error\": true}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                return true;
            }
            catch (Exception ex)
            {
                Common.log.Error("Clear_Error", ex);
                return false;
            }
        }

        /// <summary>
        /// 检查IP地址
        /// </summary>
        /// <param name="ip"></param>
        /// <returns></returns>
        public bool CheckIP(string ip)
        {
            //IP合法
            string pattern = @"^((2[0-4]\d|25[0-5]|[01]?\d\d?)\.){3}(2[0-4]\d|25[0-5]|[01]?\d\d?)$";
            bool rtn = System.Text.RegularExpressions.Regex.IsMatch(ip, pattern);
            if (!rtn)
            {
                Common.log.Info("非法的IP地址" + ip);
                return false;
            }

            //Ping服务端
            try
            {
                System.Net.NetworkInformation.Ping ping = new System.Net.NetworkInformation.Ping();
                System.Net.NetworkInformation.PingReply result = ping.Send(ip, 2000);
                ping.Dispose();
                if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
                {
                    Common.log.Info("Ping " + ip + " 请求没有响应");
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                Common.log.Error("CheckIP", ex);
                return false;
            }
        }



        private string HttpGet(string url, string ip, string authorization)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.GET);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            Common.log.Debug("HttpGet URL: " + url + "\r\nReturn: " + s);
            return s;
        }

        private string HttpPost(string url, string ip, string authorization, string body)
        {
            var client = new RestClient(url) { Timeout = httpTimeout };
            var request = new RestRequest(Method.POST);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            request.AddParameter("application/json", body, ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            Common.log.Debug(string.Format("HttpPost URL: {0};  Body: {1}\r\nReturn: {2}", url, body, s));
            return s;
        }

        private string HttpPut(string url, string ip, string authorization, string body)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.PUT);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            request.AddParameter("application/json", body, ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            Common.log.Debug(string.Format("HttpPut URL: {0};  Body: {1}\r\nReturn: {2}", url, body, s));
            return s;
        }

        private void HttpDel(string url, string ip, string authorization)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.DELETE);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Authorization", authorization);
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddParameter("application/json", "", ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);
            string s = response.Content;
            Common.log.Debug("HttpDel URL: " + url);
        }

    }
}