using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace AGVControl
{
    public class Agv_Info
    {
        /// <summary>
        /// 小车名称
        /// </summary>
        public string Name { private set; get; }
        /// <summary>
        /// 小车在FLEET中的ID号
        /// </summary>
        public string ID { private set; get; }
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP { private set; get; }
        /// <summary>
        /// IO模块GUID
        /// </summary>
        public string IOID { private set; get; }
        /// <summary>
        /// 授权码
        /// </summary>
        public string Authorization { private set; get; }

        /// <summary>
        /// 当前架子的RFID
        /// </summary>
        public string RFID { set; get; }
        /// <summary>
        /// 是否在线
        /// </summary>
        public bool IsCon { set; get; }
        /// <summary>
        /// 是否可用
        /// </summary>
        private bool _IsUse = true;
        public bool IsUse
        {
            set
            {
                if (!value.Equals(_IsUse))
                {
                    _IsUse = value;
                    Common.WriteIni(Name, SettingString.IsUse, _IsUse.ToString());
                }
            }
            get { return _IsUse; }
        }
        /// <summary>
        /// 地点
        /// </summary>
        public string Place { set; get; }
        /// <summary>
        /// 地点
        /// </summary>
        public string PlaceAliceName { set; get; } = "";

        /// <summary>
        /// 地点的状态
        /// </summary>
        public ePlaceState PlaceState { private set; get; }

        /// <summary>
        /// 小车的状态ID，（从小车获取）
        /// </summary>
        public eAGVState StateID { private set; get; }

        /// <summary>
        /// 负载
        /// </summary>
        public bool IsExistShelf { set; get; } = false;

        /// <summary>
        /// 电量百分比，（从小车获取）
        /// </summary>
        public int Battery { private set; get; }
        /// <summary>
        /// 当前任务文本，（从小车获取）
        /// </summary>
        public string MissionText { set; get; }


        public class clsPosition
        {
            public double orientation { get; set; }
            public double x { get; set; }
            public double y { get; set; }
        }
        /// <summary>
        /// 当前位置
        /// </summary>
        public clsPosition Position;

        /// <summary>
        /// 任务内容
        /// </summary>
        public string Msg
        {
            get;
            set;
        } = "";
        /// <summary>
        /// 当前任务
        /// </summary>
        public Job CurJob { get; set; }

        /// <summary>
        /// 当前任务的ID号
        /// </summary>
        public int CurTaskID { get; set; } = -1;

        public string CurTaskState { get; set; } = "";
        /// <summary>
        /// 当前任务名称
        /// </summary>
        public string CurTaskName { get; set; }

        /// <summary>
        /// 当前任务的GUID
        /// </summary>
        public string CurTaskGUID { get; set; }
        /// <summary>
        /// 当前料架的工单信息
        /// </summary>
        public string BoxDestInfo { get; set; } = "";

        public string RunInfo()
        {
            string curJobTaskName = "";
            string curJobTaskState = "";
            int curJobTaskID = -1;
            if (CurJob != null)
            {
                if (CurJob is ChargeJob)
                {
                    curJobTaskName = ((ChargeJob)CurJob).CurTaskName;
                    curJobTaskState = ((ChargeJob)CurJob).CurTaskState;
                    curJobTaskID = ((ChargeJob)CurJob).CurTaskID;
                }

                else if (CurJob is EmptyAGVBackJob)
                {
                    curJobTaskName = ((EmptyAGVBackJob)CurJob).CurTaskName;
                    curJobTaskState = ((EmptyAGVBackJob)CurJob).CurTaskState;
                    curJobTaskID = ((EmptyAGVBackJob)CurJob).CurTaskID;
                }
                else if (CurJob is EmptyShelfBackJob)
                {
                    curJobTaskName = ((EmptyShelfBackJob)CurJob).CurTaskName;
                    curJobTaskState = ((EmptyShelfBackJob)CurJob).CurTaskState;
                    curJobTaskID = ((EmptyShelfBackJob)CurJob).CurTaskID;
                }
                else if (CurJob is EnterLeaveShelfJob)
                {
                    curJobTaskName = ((EnterLeaveShelfJob)CurJob).CurTaskName;
                    curJobTaskState = ((EnterLeaveShelfJob)CurJob).CurTaskState;
                    curJobTaskID = ((EnterLeaveShelfJob)CurJob).CurTaskID;
                }
                else if (CurJob is GoEmptyShelfLineJob)
                {
                    curJobTaskName = ((GoEmptyShelfLineJob)CurJob).CurTaskName;
                    curJobTaskState = ((GoEmptyShelfLineJob)CurJob).CurTaskState;
                    curJobTaskID = ((GoEmptyShelfLineJob)CurJob).CurTaskID;
                }
                else if (CurJob is GoFullShelfStationJob)
                {
                    curJobTaskName = ((GoFullShelfStationJob)CurJob).CurTaskName;
                    curJobTaskState = ((GoFullShelfStationJob)CurJob).CurTaskState;
                    curJobTaskID = ((GoFullShelfStationJob)CurJob).CurTaskID;
                }
                else if (CurJob is SendFullShelfToLineJob)
                {
                    curJobTaskName = ((SendFullShelfToLineJob)CurJob).CurTaskName;
                    curJobTaskState = ((SendFullShelfToLineJob)CurJob).CurTaskState;
                    curJobTaskID = ((SendFullShelfToLineJob)CurJob).CurTaskID;
                }
                if (RFID.StartsWith("C"))
                {
                    return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态:{4}]{0}当前步骤:{5}{0}执行信息:{6}",
                        "\r\n", Name, RFID, curJobTaskName, curJobTaskState, Msg, MissionText);
                }
                else if (RFID.StartsWith("D"))
                {
                    return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}当前步骤:{5}{0}执行信息:{6}",
                        "\r\n", Name, RFID, curJobTaskName, curJobTaskState, Msg, MissionText);

                }
                else
                    return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}当前步骤:{5}{0}执行信息:{6}",
                        "\r\n", Name, RFID, curJobTaskName, curJobTaskState, Msg, MissionText);
            }
            else
                return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}执行信息:{5}",
                 "\r\n", Name, RFID, curJobTaskName, curJobTaskState, MissionText);
        }
        /// <summary>
        /// 任务重发
        /// </summary>
        public void Resend()
        {
            if (CurJob != null)
            {
                if (CurJob is ChargeJob)
                {
                    ((ChargeJob)CurJob).ResendTask(this);
                }

                else if (CurJob is EmptyAGVBackJob)
                {
                    ((EmptyAGVBackJob)CurJob).ResendTask(this);
                }
                else if (CurJob is EmptyShelfBackJob)
                {
                    ((EmptyShelfBackJob)CurJob).ResendTask(this);
                }
                else if (CurJob is EnterLeaveShelfJob)
                {
                    ((EnterLeaveShelfJob)CurJob).ResendTask(this);

                }
                else if (CurJob is GoEmptyShelfLineJob)
                {
                    ((GoEmptyShelfLineJob)CurJob).ResendTask(this);
                }
                else if (CurJob is GoFullShelfStationJob)
                {
                    ((GoFullShelfStationJob)CurJob).ResendTask(this);
                }
                else if (CurJob is SendFullShelfToLineJob)
                {
                    ((SendFullShelfToLineJob)CurJob).ResendTask(this);
                }

            }
        }
        /// <summary>
        /// 停在同一处超时
        /// </summary>
        public bool StandTimeOut { get; set; } = false;
        public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid)
        {
            ID = id;
            Name = name;
            IP = ip;
            Authorization = authorization;
            IOID = ioID;
            RFID = rfid;
            IsCon = false;
            _IsUse = isUse;
            Place = "";
            Msg = "";
            Position = new Agv_Info.clsPosition();
        }

        DateTime IoStartTime = DateTime.MaxValue;
        int IoLastTime = 5000;
        int StandLastTimeMinute = 5;
        public DateTime StandStartTime = DateTime.MaxValue;
        public bool SetState(eAGVState stateID, string stateText, int battery, string missionText, clsPosition position)
        {
            bool isChange = false;
            bool preShelfState = IsExistShelf;
            Common.mir.Get_IO_Status(this, out bool[] input, out bool[] output);
            if (input != null && input.Length == 4)
            {
                bool reachIoValue = input[3].Equals(true);//input[2] &&
                if (reachIoValue)
                {
                    //满足给定的IO值，计算持续时间
                    if (IoStartTime == DateTime.MaxValue)
                    {
                        IoStartTime = DateTime.Now;
                    }


                    if (IoLastTime > 0)
                    {
                        //持续时间
                        TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
                        IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
                    }
                    else
                    {
                        IsExistShelf = true;
                    }
                }
                else
                {
                    //重新计时
                    IoStartTime = DateTime.MinValue;
                    IsExistShelf = input[3];
                }
            }
            if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) || !Battery.Equals(battery)
                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                isChange = true;
            StateID = stateID;
            CurTaskState = stateText;
            Battery = battery;
            MissionText = missionText;
            CheckStandTimeOut(position);
            return isChange;
        }

        /// <summary>
        /// 检查小车是否在原地停留超时
        /// </summary>
        /// <returns></returns>
        private void CheckStandTimeOut(clsPosition position)
        {
            if (IsUse && CurJob !=null && !(CurJob is ChargeJob) && 
                ( !CurTaskName.Contains(SettingString.Standby)))//!CurTaskName.Contains(SettingString.AutoCharge) ||
            {
                if (Math.Abs(position.x - Position.x) < 1 && Math.Abs(position.y - Position.y) < 1)
                {
                    //满足条件，计算持续时间
                    if (StandStartTime == DateTime.MaxValue)
                    {
                        StandStartTime = DateTime.Now;
                    }
                    TimeSpan lastTimeSpan = DateTime.Now - StandStartTime;
                    StandTimeOut = (lastTimeSpan.TotalMinutes >= StandLastTimeMinute);
                }
                else
                {
                    //重新计时
                    StandStartTime = DateTime.Now;
                    StandTimeOut = false;

                }
            }
            else if(CurJob != null && (CurJob is ChargeJob))
            {
                StandTimeOut = false;
                StandStartTime = DateTime.Now;
            }
            else
            {
                StandTimeOut = false;
                StandStartTime = DateTime.Now;
            }
            Position = position;
        }
        //public void GetPlace(int value)
        //{
        //    // Common.log.Debug(Name + " PLC20=" + value);
        //    if (value == 0)
        //    {
        //        Place = "";
        //        PlaceState = ePlaceState.None;  
        //    }
        //    else if (value > 0 && value < 1000)
        //    {
        //        //Place = "";
        //        //PlaceState = PlaceState.None;
        //        //TaskSend = "";
        //    }
        //    else if (value >= 1000)
        //    {
        //        int a = value / 1000;
        //        int b = (value - a * 1000) / 10;
        //        int c = value - a * 1000 - b * 10;
        //        //if (c.Equals(1) || c.Equals(3) || c.Equals(5))//Move,Enter,Leave
        //        //    TaskSend = "";
        //        Place = (char)(64 + a) + b.ToString();
        //        if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
        //        {
        //            ClientNode node = Common.nodeInfo.Find(s => s.Name == Place);
        //            if (node != null)
        //                PlaceAliceName = node.AliceName;
        //            else
        //                PlaceAliceName = Place;
        //        }
        //        PlaceState = (ePlaceState)c;
        //    }
        //}

        public string[] ToRow()
        {
            //AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存
            List<string> s = new List<string>();
            s.Add(Name);
            s.Add(IP);
            s.Add(StateID.ToString());
            s.Add(CurTaskID.ToString());
            s.Add(CurTaskName);
            s.Add(CurTaskState);
            //s.Add(Msg);
            // s.Add(MissionText);
            if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
            {
                ClientNode node = Common.nodeInfo.Find(ss => ss.Name == Place);
                if (node != null)
                    PlaceAliceName = node.AliceName;
                else
                    PlaceAliceName = Place;
            }
            s.Add(PlaceAliceName);
            s.Add(IsExistShelf ? "满载" : "空载");
            s.Add(IsCon ? "在线" : "离线");
            s.Add(Battery + "%");
            s.Add(IsUse ? "是" : "否");

            return s.ToArray();
        }

    }

    /// <summary>
    /// MIR 状态,与状态ID对应
    /// </summary>
    public enum eAGVState
    {
        None = 0,
        Starting,
        ShuttingDown,
        Ready,
        Pause,
        Executing,
        Aborted,
        Completed,
        Docked,
        Docking,
        EmergencyStop,
        ManualControl,
        Error,
        UNKNOWN
    }
}