using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Runtime.InteropServices;
using System.Threading;

namespace AGVControl
{


    public enum ePriority
    {
        Low,
        Middle,
        High
    }

    public static class SettingString
    {
        public static string Move = "Move";
        public static string MoveStandbyTemp = "MoveStandbyTemp";
        /// <summary>
        /// 上料区
        /// </summary>
        public static string A6 = "A6";
        /// <summary>
        /// 下料区
        /// </summary>
        public static string A5 = "A5";
        /// <summary>
        /// 4D 1线
        /// </summary>     
        public static string D1 = "D1";
        /// <summary>
        /// 4D 2线
        /// </summary>    
        public static string D2 = "D2";
        /// <summary>
        /// 4D 3线
        /// </summary>    
        public static string D3 = "D3";
        /// <summary>
        /// 4D 4线
        /// </summary>    
        public static string D4 = "D4";
        /// <summary>
        /// 4D 5线
        /// </summary>    
        public static string D5 = "D5";
        /// <summary>
        /// 4D 6线
        /// </summary>    
        public static string D6 = "D6";
        /// <summary>
        /// 4D 8线
        /// </summary>    
        public static string D8 = "D8";
        /// <summary>
        /// 4D 9线
        /// </summary>    
        public static string D9 = "D9";
        /// <summary>
        /// 4D 10线
        /// </summary>    
        public static string D10 = "D10";
        /// <summary>
        /// 4D 11线
        /// </summary>    
        public static string D11 = "D11";
        /// <summary>
        /// 4D 12线
        /// </summary>    
        public static string D12 = "D12";
        /// <summary>
        /// 4D 14线
        /// </summary>    
        public static string D14 = "D14";
        /// <summary>
        /// 4D 15线
        /// </summary>    
        public static string D15 = "D15";
        /// <summary>
        /// 4D 16线
        /// </summary>    
        public static string D16 = "D16";

        /// <summary>
        /// 4C 1线
        /// </summary>
        public static string C1 = "C1";
        /// <summary>
        /// 4C 2线
        /// </summary>
        public static string C2 = "C2";
        /// <summary>
        /// 4C 3线
        /// </summary>
        public static string C3 = "C3";
        /// <summary>
        /// 4C 4线
        /// </summary>
        public static string C4 = "C4";
        /// <summary>
        /// 4C 5线
        /// </summary>
        public static string C5 = "C5";
        /// <summary>
        /// 4C 6线
        /// </summary>
        public static string C6 = "C6";
        /// <summary>
        /// 4C 7线
        /// </summary>
        public static string C7 = "C7";
        /// <summary>
        /// 4C 8线
        /// </summary>
        public static string C8 = "C8";
        /// <summary>
        /// 4C 9线
        /// </summary>
        public static string C9 = "C9";
        /// <summary>
        /// 4C 10线
        /// </summary>
        public static string C10 = "C10";
        /// <summary>
        /// 4C 11线
        /// </summary>
        public static string C11 = "C11";
        /// <summary>
        /// 4C 12线
        /// </summary>
        public static string C12 = "C12";
        /// <summary>
        /// 4C 13线
        /// </summary>
        public static string C13 = "C13";
        /// <summary>
        /// 4C 14线
        /// </summary>
        public static string C14 = "C14";
        /// <summary>
        /// 4C 15线
        /// </summary>
        public static string C15 = "C15";
        /// <summary>
        /// 4C 16线
        /// </summary>
        public static string C16 = "C16";

        /// <summary>
        /// AGV 名称 MiR_R1579
        /// </summary>
        public static string MiR_R1579 = "MiR_R1579";
        /// <summary>
        /// AGV 名称 MiR_R1580
        /// </summary>
        public static string MiR_R1580 = "MiR_R1580";
        /// <summary>
        /// AGV 名称 MiR_R1763
        /// </summary>
        public static string MiR_R1763 = "MiR_R1763";
        /// <summary>
        /// AGV 名称 MiR_R1764
        /// </summary>
        public static string MiR_R1764 = "MiR_R1764";
        /// <summary>
        /// AGV 名称 MiR_R1767
        /// </summary>
        public static string MiR_R1767 = "MiR_R1767";
        /// <summary>
        /// AGV 名称 MiR_R1768
        /// </summary>
        public static string MiR_R1768 = "MiR_R1768";
    }



    /// <summary>
    /// 公共参数
    /// </summary>
    public static class Common
    {
        /// <summary>
        /// 查找节点是否存在以及是否调用
        /// </summary>
        /// <param name="nodeName">节点名称</param>
        /// <returns></returns>
        public static int FindNode(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
            return idx;
        }

        /// <summary>
        /// 移动到节点位置
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        /// <returns></returns>
        public static bool MoveToNode(Agv_Info agv, string nodeName)
        {
            string log;
            if (!agv.TaskSend.Equals(""))
                return false;
            //清除当前任务点

            int idx = Common.nodeInfo.FindIndex(s => s.AgvName == agv.Name);
            if (idx > -1)
            {
                Common.nodeInfo[idx].AgvName = "";
                log = agv.Name + " 清除任务点[" + Common.nodeInfo[idx].Name + "]的AGV名称";
                Common.LogInfo(log);
            }


            //执行下一个任务

            bool rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + nodeName]);
            if (rtn)
            {
                agv.TaskSend = SettingString.Move + nodeName;
                agv.Place = nodeName;
                log = string.Format("{0} {1} To Node {2}", agv.Name,SettingString.Move,nodeName);
                Common.LogInfo(log);
                Common.mir.State_Ready(agv);
            }
            else
            {
                agv.TaskSend = "";
                log = string.Format("{0} {1} To Node {2} 失败", agv.Name, SettingString.Move, nodeName);
                Common.LogInfo(log);
            }

            return rtn;

        }

        /// <summary>
        /// 查看A5、A6需要小料架的状况
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="node"></param>
        public static bool CheckA5A6State_SmallShelf(Agv_Info agv, ClientNode node,out string tarNodeName)
        {
            bool rtn = false;
            string place = agv.Place;
            tarNodeName = "";
            int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
            if (tarIdx == -1)
            {
                Common.LogInfo(string.Format("{0} 已装载料架，{1}不需要料架", agv.Name, SettingString.A5), false);
            }
            else
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move+SettingString.A5]);
                if (rtn)
                {
                    agv.NextPlace = "";
                    node.AgvName = "";
                    tarNodeName = SettingString.A5;
                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
                    agv.TaskSend = rtn ? SettingString.Move + SettingString.A5 : "";
                    agv.Msg = string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name,place,SettingString.A5);
                    Common.LogInfo(string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name, place, SettingString.A5));
                }
                return true;
            }

            tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
            (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);

            if (tarIdx == -1)
            {
                //StatusCharge(agv);
                //Common.LogInfo(string.Format("{0} 已装载小料架，A6不需要料架,到待机位等待", agv.Name), false);//小

                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandbyTemp]);
                if (rtn)
                {
                    agv.NextPlace = "";
                    node.AgvName = "";
                    agv.TaskSend = rtn ? SettingString.MoveStandbyTemp : "";
                    agv.Msg = string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name,place, SettingString.MoveStandbyTemp);
                    Common.LogInfo(string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name, place, SettingString.MoveStandbyTemp));
                }
            }
            else
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move+SettingString.A6]);
                if (rtn)
                {
                    agv.NextPlace = "";
                    node.AgvName = "";
                    tarNodeName = SettingString.A6;
                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
                    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
                    agv.Msg = string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name, place, SettingString.A6);
                    Common.LogInfo(string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name, place, SettingString.A6));
                    return true;
                }

            }
            return false;
        }
        /// <summary>
        /// 节点信息
        /// </summary>
        public static List<ClientNode> nodeInfo;
        /// <summary>
        /// 小车信息
        /// </summary>
        public static List<Agv_Info> agvInfo;
        public static System.Windows.Forms.TextBox logTextBox;
        public static System.Windows.Forms.DataGridView missionView;
        public static BLL.AgvServer server;
        public static BLL.Control control;
        public static BLL.MiR_API mir;
        public static BLL.WebService web;
        public static ChargeStatus chargeStatus;
        public static string itsHttp;
        public static log4net.ILog log;
        public static Dictionary<string, string> agvMission;
        public static Dictionary<string, string> showNameMissionName;
        public static Dictionary<string, string> agvProductionLine;
        public static System.Configuration.Configuration appConfig;
        public static MissionManager missionManager;
        public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
        /// <summary>
        /// E21 E22 是否允许离开/进入
        /// </summary>
        public static bool IsAllowLeaveOrEnter = false;
        private static List<string> msg = new List<string>();
        private static string preLog = "";


        public static void LogInfo(string text, bool isShow = true)
        {
            if (logTextBox.InvokeRequired)
            {
                logTextBox.Invoke(new Action(() => LogInfo(text, isShow)));
                return;
            }

            if (preLog.Equals(text))//连续重复的日志只打印一次
                return;
            preLog = text;
            if (msg.Count > 25)
            {
                msg.RemoveRange(0, 10);
            }
            log.Info(text);
            string tmpStr = "";
            if (isShow)
            {
                msg.Add(string.Format("[{0}] {1}\r\n", DateTime.Now.ToString("HH:mm:ss"), text));
                msg.ForEach(s => tmpStr += s);
                logTextBox.Text = tmpStr;
            }
        }
        public static void ReadLinePlace()
        {
            if (!System.IO.File.Exists(CONFIG_PATH + "LinePlace.txt"))
            {
                File.Create(CONFIG_PATH + "LinePlace.txt");
                return;
            }

            string[] s = System.IO.File.ReadAllLines(CONFIG_PATH + "LinePlace.txt");
            for (int i = 0; i < s.Count(); i++)
            {
                string[] mission = s[i].Split(',');
                if (mission.Length != 2)
                    continue;
                missionManager.missionList.Add(new MissionStru(mission[0], mission[1]));

            }

        }


        public static bool AddLinePlace(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
            if (idx > -1)
            {
                Common.missionManager.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName));
                using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
                {
                    foreach (var item in Common.missionManager.missionList)
                    {
                        file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
                    }

                }

                return true;
            }
            else
            {
                log.Error("AddLinePlace 失败 节点" + nodeName + "不存在");
                return false;
            }

        }

        public static bool DelLinePlace(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
            if (idx > -1)
            {
                idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName);
                if (idx > -1)
                {
                    Common.missionManager.missionList.RemoveAt(idx);
                    using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
                    {
                        foreach (var item in Common.missionManager.missionList)
                        {
                            file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
                        }

                    }

                    return true;
                }
                log.Error("DelLinePlace 失败 节点任务" + nodeName + "不存在");
                return false;
            }
            else
            {
                log.Error("DelLinePlace 失败 节点" + nodeName + "不存在");
                return false;
            }

        }

        public static void CheckAGVMissionState()
        {
            foreach (Agv_Info agv in agvInfo)
            {
                Thread.Sleep(50);
                bool rtn = Common.mir.Get_Register(agv, 20, out int regValue);
                if (rtn)
                {
                    agv.GetPlace(regValue);
                    Common.log.Debug(string.Format("软件开启：{0} Get_Register PLC{1}={2} Place={3} PlaceState={4}", agv.Name, 20, regValue, agv.Place, agv.PlaceState));
                    if (!agv.Place.Equals(""))
                    {
                        int idx = nodeInfo.FindIndex(s => s.Name == agv.Place);
                        if (idx > -1)
                        {
                            nodeInfo[idx].AgvName = agv.Name;
                        }
                        agv.TaskSend = "Move" + agv.Place;
                    }
                }
                else
                {
                    Common.log.Debug("CheckAGVMissionState 获取PLC20失败");
                }
            }
        }
        public static void GetNodesPosition()
        {
            Agv_Info agv = agvInfo[0];
            foreach (ClientNode clientNode in nodeInfo)
            {
                Thread.Sleep(50);
                bool rtn = Common.mir.Get_Node_Pos(agv, clientNode, out BLL.MirPosition mirPosition);
                if (rtn)
                {
                    clientNode.position.X = mirPosition.pos_x;
                    clientNode.position.Y = mirPosition.pos_y;
                    Common.log.Debug(string.Format("软件开启：{0} 获取节点位置({1},{2})", clientNode.Name, clientNode.position.X, clientNode.position.Y));
                }
                else
                {
                    Common.log.Debug("GetNodesPosition 获取节点位置失败");
                }
            }
        }
    }

    public static class API
    {
        [DllImport("user32.dll", EntryPoint = "ShowWindow", CharSet = CharSet.Auto)]
        public static extern int ShowWindow(IntPtr hwnd, int nCmdShow);
        [DllImport("user32.dll ", SetLastError = true)]
        public static extern void SwitchToThisWindow(IntPtr hWnd, bool fAltTab);
        public const int SW_RESTORE = 9;

    }

    /// <summary>
    /// 客户端
    /// </summary>
    public class Client
    {
        /// <summary>
        /// 循环
        /// </summary>
        public bool Loop;
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP;
        /// <summary>
        /// 是否连接
        /// </summary>
        public bool IsConn;
        /// <summary>
        /// 节点名称集合
        /// </summary>
        public List<string> nodeName;
        /// <summary>
        /// 套接字
        /// </summary>
        public Socket Socket;
        /// <summary>
        /// 接收数据线程
        /// </summary>
        public Thread ListenNet;



    }




    /// <summary>
    /// 地点状态
    /// </summary>
    public enum ePlaceState
    {
        /// <summary>
        /// 没有任务
        /// </summary>
        None = 0,
        /// <summary>
        /// 小车移动任务
        /// </summary>
        Move = 1,
        /// <summary>
        /// 小车移动任务完成
        /// </summary>
        MoveFinish = 2,
        /// <summary>
        /// 小车Enter任务
        /// </summary>
        Enter = 3,
        /// <summary>
        /// 小车Enter任务完成
        /// </summary>
        EnterFinish = 4,
        /// <summary>
        /// 小车Leave任务
        /// </summary>
        Leave = 5,
        /// <summary>
        /// 小车Leave任务完成
        /// </summary>
        LeaveFinish = 6,
        /// <summary>
        /// 出错
        /// </summary>
        Error = 9
    }

    public struct PositionStru
    {
        public double X;
        public double Y;
    }
    public class ChargeStatus
    {
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge3 = "";
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge4 = "";
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge5 = "";
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge6 = "";
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge7 = "";
        /// <summary>
        /// 充电等待时间（s）
        /// </summary>
        public int chargeWait = 0;
        /// <summary>
        /// 充电最大电量，小于该值等待指定时间去充电
        /// </summary>
        public int chargeMax;
        /// <summary>
        /// 充电最小电量，小于该值直接去充电
        /// </summary>
        public int chargeMin;
        /// <summary>
        /// 两车充电间隔时间(ms)
        /// </summary>
        public long chargeInterval;

        private bool _autoCharge;

        public bool AutoCharge
        {
            set
            {
                _autoCharge = value;
                Common.appConfig.AppSettings.Settings["AutoCharge"].Value = value.ToString();
                Common.appConfig.Save();
            }
            get
            {
                return _autoCharge;
            }
        }

        public ChargeStatus()
        {
            _autoCharge = Convert.ToBoolean(Common.appConfig.AppSettings.Settings["AutoCharge"].Value);
            chargeWait = Convert.ToInt32(Common.appConfig.AppSettings.Settings["ChargeWait"].Value);

            string s = Common.appConfig.AppSettings.Settings["ChargeThreshold"].Value;
            string[] arr = s.Split(',');
            chargeMin = Convert.ToInt32(arr[0]);
            chargeMax = Convert.ToInt32(arr[1]);

            chargeInterval = 0;
        }

    }

    /// <summary>
    /// 任务信息结构
    /// </summary>
    public struct MissionStru
    {
        public string NodeName;
        public string CreateTime;
        /// <summary>
        /// 任务结构
        /// </summary>
        /// <param name="dateTime">创建时间</param>
        /// <param name="name">节点名称</param>
        public MissionStru(string dateTime, string name)
        {
            NodeName = name;
            CreateTime = dateTime;
        }
    }
    /// <summary>
    /// 任务管理
    /// </summary>
    public class MissionManager
    {
        /// <summary>
        /// 任务列表
        /// </summary>
        public List<MissionStru> missionList;
        /// <summary>
        /// 主动执行空架任务的小车名称
        /// </summary>
        public string AGV_Name_EmptyTask { get; set; } = "";

        public MissionManager()
        {
            missionList = new List<MissionStru>();
        }
    }

}