using BLL;
using System;
using System.CodeDom;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace AGVControl
{
    public partial class FrmMain : Form
    {
        private bool exit = false;
        private bool change;
        private NotifyIcon notify;
        private ContextMenuStrip notifyMenu;
        private System.Timers.Timer showTimer;
        public FrmMain()
        {
            InitializeComponent();
            showTimer = new System.Timers.Timer();
            showTimer.Interval = 1000;
            //showTimer.Enabled = true;
            //showTimer.AutoReset = true;
            showTimer.Elapsed += ShowTimer_Elapsed;
            showTimer.Start();
            Common.logTextBox = TxtLog;
        }

        private void ShowConfig()
        {
            int n;

            for (int i = 0; i < Common.agvInfo.Count; i++)
            {
                Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
                if (input != null && input.Length == 4)
                    Common.agvInfo[i].IsExistShelf = input[3];
                n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow());
                DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString();
                if (i % 2 == 0)
                    DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                if (!Common.agvInfo[i].IsCon)
                    DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
            }

            cmbBoxLineName.Items.Add("产线名称");
            foreach (var item in Common.nodeInfo)
            {
                if (item.Name.StartsWith("A"))
                    continue;
                cmbBoxLineName.Items.Add(item.AliceName);
            }
            cmbBoxLineName.SelectedIndex = 0;
            for (int i = 0; i < Common.nodeInfo.Count; i++)
            {
                n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
                DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
                if (i % 2 == 0)
                    DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                if (!Common.nodeInfo[i].Online)
                    DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
            }

            LstAgvPlace.Items.Clear();
            LstAgvPlace.Items.AddRange(Common.showNameMissionName.Keys.ToArray());
            LstAgvPlace.SelectedIndex = 0;
        }

        private void Server_NodeChanged(int nodeIndex)
        {
            Invoke(new Action(() =>
            {
                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
                DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
            }));
            ShowEmptyTask();
            System.GC.Collect();
        }

        private void Server_NodeOnline(int nodeIndex)
        {
            Invoke(new Action(() =>
            {
                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
                DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
            }));

            ShowEmptyTask();
            System.GC.Collect();
        }

        private void Control_AgvChanged(int agvIndex)
        {
            Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].StateID.Equals(12) ? Color.Red : Color.Black; }));
            Invoke(new Action(() =>
            {
                DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());

            }));
            try
            {
                Invoke(new Action(() =>
                {
                    for (int i = 0; i < Common.nodeInfo.Count; i++)
                    {
                        DgvNode.Rows[i].SetValues(Common.nodeInfo[i].ToRow());
                    }
                }));
            }
            catch { };
            System.GC.Collect();
        }

        private void Control_AgvOnline(int agvIndex)
        {
            Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].IsCon ? Color.Black : Color.Red; }));
            GC.Collect();
        }

        private void ItemShow_Click(object sender, EventArgs e)
        {
            Show();
            if (WindowState == FormWindowState.Minimized)
                WindowState = FormWindowState.Normal;
        }

        private void ItemExit_Click(object sender, EventArgs e)
        {
            foreach (var item in Common.agvInfo)
            {
                Common.WriteIni(item.Name, SettingString.RFID, item.RFID);
            }
            notify.Dispose();
            exit = true;
            Close();
        }

        private void Notify_MouseDoubleClick(object sender, MouseEventArgs e)
        {
            Show();
            if (WindowState == FormWindowState.Minimized)
                WindowState = FormWindowState.Normal;
        }
        private void Control_AgvMissionChanged()
        {
            if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
                Invoke(new Action(() =>
                {
                    //txtBoxAGV_EmptyTask.Text = Common.missionManager.AGV_Name_EmptyTask;
                    groupBox1.Text = "产线任务[" + Common.missionManager.AGV_Name_EmptyTask + "]";
                }));
            ShowEmptyTask();
        }

        private void FrmMain_Load(object sender, EventArgs e)
        {
            //托盘菜单
            notifyMenu = new ContextMenuStrip();
            ToolStripMenuItem itemShow = new ToolStripMenuItem("显示(&S)");
            itemShow.Click += ItemShow_Click;
            ToolStripMenuItem itemExit = new ToolStripMenuItem("退出(&X)");
            itemExit.Click += ItemExit_Click;
            notifyMenu.Items.Add(itemShow);
            notifyMenu.Items.Add(itemExit);

            //托盘控件
            notify = new NotifyIcon { Icon = Icon, Visible = true, ContextMenuStrip = notifyMenu, Text = Text };
            notify.MouseDoubleClick += Notify_MouseDoubleClick;

            ShowConfig();
            change = true;
            ChkAutoCharge.Checked = Common.chargeStatus.AutoCharge;
            change = false;
            Common.control.AgvChanged += Control_AgvChanged;
            Common.control.AgvOnline += Control_AgvOnline;
            Common.control.AgvMissionChanged += Control_AgvMissionChanged;
            Common.server.NodeChanged += Server_NodeChanged;
            Common.server.NodeOnline += Server_NodeOnline;
            foreach (var item in Common.agvInfo)
            {
                cmbBoxAGVName.Items.Add(item.Name);
            }
            cmbBoxAGVName.Items.Add("None");
            cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
        }

        private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (!exit)
            {
                e.Cancel = true;
                Hide();
            }
            foreach (var item in Common.agvInfo)
            {
                Common.WriteIni(item.Name, SettingString.RFID, item.RFID);
            }

            //showTimer.Enabled = false;
            showTimer.Stop();
            Common.control.AgvChanged -= Control_AgvChanged;
            Common.control.AgvOnline -= Control_AgvOnline;
            Common.server.NodeChanged -= Server_NodeChanged;
            Common.server.NodeOnline -= Server_NodeOnline;
        }

        private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex == -1) return;

            if (e.ColumnIndex == 12)  //调用
            {
                Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
                DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
                Common.WriteIni(Common.agvInfo[e.RowIndex].Name, SettingString.IsUse, Common.agvInfo[e.RowIndex].IsUse.ToString());
                Common.appConfig.Save();
                DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
            }
            else if (e.ColumnIndex == 13)  //清除缓存
            {
                //清除小车缓存
                Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place));
                string place = Common.agvInfo[e.RowIndex].Place;
                //Common.agvInfo[e.RowIndex].Place = "";
                Common.agvInfo[e.RowIndex].PlaceAliceName = "";
                //Common.agvInfo[e.RowIndex].RFID = "";
                Common.agvInfo[e.RowIndex].NextPlace = "";
                Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
                Common.agvInfo[e.RowIndex].TaskSend = "";
                Common.agvInfo[e.RowIndex].Msg = "";
                //清除执行空架任务的小车
                if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
                    Common.missionManager.AGV_Name_EmptyTask = "";
                DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());

                //清除节点缓存
                int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
                if (idx > -1)
                {
                    Common.nodeInfo[idx].AgvName = "";
                    DgvNode.Rows[idx].Cells[5].Value = "";
                }

                ////添加Init任务
                //Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
                Common.mir.Add_Mission(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);

                Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
                //判断小车负载与实际是否匹配
                Common.mir.Get_IO_Status(Common.agvInfo[e.RowIndex], out bool[] input, out bool[] output);
                if (input != null && input.Length == 4)
                {
                    if (!Common.agvInfo[e.RowIndex].IsExistShelf.Equals(input[3]))
                    {
                        if (MessageBox.Show("满载IO信号与当前负载信号不一致，是否同步？", "警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
                            Common.agvInfo[e.RowIndex].IsExistShelf = input[3];
                        DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
                    }

                }
            }
        }

        private void DgvNode_CellClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex == -1) return;

            if (e.ColumnIndex == 7)  //调用
            {
                Common.nodeInfo[e.RowIndex].IsUse = !Common.nodeInfo[e.RowIndex].IsUse;
                DgvNode.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.nodeInfo[e.RowIndex].IsUse.ToString();
                Common.WriteIni(Common.nodeInfo[e.RowIndex].Name, SettingString.IsUse, Common.nodeInfo[e.RowIndex].IsUse.ToString());
                Common.appConfig.Save();
                DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
            }
            else if (e.ColumnIndex == 8)  //清除缓存
            {
                //清除节点缓存
                Common.LogInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
                string name = Common.nodeInfo[e.RowIndex].AgvName;
                Common.nodeInfo[e.RowIndex].AgvName = "";
                DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
                Common.nodeInfo[e.RowIndex].RFID = "";
                DgvNode.Rows[e.RowIndex].Cells[4].Value = "";
                //清除小车缓存
                int idx = Common.agvInfo.FindIndex(s => s.Name == name);
                if (idx > -1)
                {
                    Common.agvInfo[idx].Place = "";
                    Common.agvInfo[idx].RFID = "";
                    DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
                    //添加Init任务
                    Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["Init"]);
                    Common.mir.State_Ready(Common.agvInfo[idx]);
                }
                DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
            }
        }

        private void BtnMissionReady_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.State_Ready(Common.agvInfo[idx]);
        }

        private void BtnMissionPause_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.State_Pause(Common.agvInfo[idx]);
            Common.LogInfo("手动暂停：[" + Common.agvInfo[idx].Name + "]");
        }

        private void BtnMissionAdd_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
                if (!rtn)
                    return;
                //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
                Common.LogInfo("手动添加任务：[" + Common.agvInfo[idx].Name + "][" + Common.showNameMissionName[LstAgvPlace.Text] + "]");
            }

        }

        private void BtnClearError_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.Clear_Error(Common.agvInfo[idx]);
            Common.LogInfo("手动清除错误：[" + Common.agvInfo[idx].Name + "]");
        }

        bool InShhow = false;
        private void ShowTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            //ShowEmptyTask();
            InShhow = true;
            string msg = "";
            string racks = "";
            foreach (Agv_Info agv in Common.agvInfo)
            {
                if (agv.CurJob != null)
                    msg += agv.Name + ":" + agv.Msg + ";" + agv.CurJob.RunInfo;
                else
                    msg += agv.Name + ":" + agv.Msg + ";";
                if(agv.RFID.StartsWith("C"))
                {
                    racks+=AGVManager.GetRackBy(agv.RFID);
                    
                }
            }
            Invoke(new Action(() =>
            {
                lblMsg.Text = msg;
                lblVMIGetBoxDestInfo.Text = AGVManager.A6_Target;
                lblGetRack.Text = racks;
            }));


            InShhow = false;
        }

        private void ShowEmptyTask()
        {
            if (dgvLineMission.InvokeRequired)
            {
                dgvLineMission.Invoke(new Action(() => ShowEmptyTask()));
                return;
            }
            try
            {
                if (dgvLineMission.Rows.Count != 0)
                    dgvLineMission.Rows.Clear();
                foreach (var item in Common.missionManager.missionList)
                {
                    var key = Common.nodeInfo.Where(q => q.Name == item.NodeName).Select(q => q.AliceName);
                    dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]);
                }
            }
            catch (Exception ex)
            {
                Common.log.Error(ex);
            }

        }
        private void BtnReadWriteCharge_Click(object sender, EventArgs e)
        {
            string name = (sender as System.Windows.Forms.Control).Name;
            int num = Convert.ToInt32(name.Substring(name.Length - 1, 1));

            //if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = cmbBoxAGVName.SelectedIndex;
            if (idx >= Common.agvInfo.Count) return;

            if (name.IndexOf("Read") > 0)
            {
                if (num == 3)
                    TxtCharge3.Text = Common.chargeStatus.charge3;
                else if (num == 4)
                    TxtCharge4.Text = Common.chargeStatus.charge4;
                else if (num == 5)
                    TxtCharge5.Text = Common.chargeStatus.charge5;
                else if (num == 6)
                    TxtCharge6.Text = Common.chargeStatus.charge6;
                else if (num == 7)
                    TxtCharge7.Text = Common.chargeStatus.charge7;
            }
            else if (name.IndexOf("Write") > 0)
            {
                if (num == 3)
                {
                    //if(!Common.chargeStatus.charge3.Equals(""))
                    //{
                    //    MessageBox.Show("该充电桩已有小车");
                    //}
                    Common.chargeStatus.charge3 = TxtCharge3.Text;
                }

                else if (num == 4)
                    Common.chargeStatus.charge4 = TxtCharge4.Text;
                else if (num == 5)
                    Common.chargeStatus.charge5 = TxtCharge5.Text;
                else if (num == 6)
                    Common.chargeStatus.charge6 = TxtCharge6.Text;
                else if (num == 7)
                    Common.chargeStatus.charge7 = TxtCharge7.Text;
                if (Common.agvInfo[idx].IsCon)
                {
                    bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission["AutoCharge" + num.ToString()]);
                    if (!rtn)
                        return;
                    Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString();
                }
            }
        }

        private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
        {

            if (change) return;
            Common.chargeStatus.AutoCharge = ChkAutoCharge.Checked;

        }

        private void cmbBoxAGVName_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbBoxAGVName.SelectedItem != null)
            {
                switch (cmbBoxAGVName.SelectedIndex)
                {
                    case 0:
                        TxtCharge3.Text = "MiR_R1763";
                        break;
                    case 1:
                        TxtCharge4.Text = "MiR_R1764";
                        break;
                    case 2:
                        TxtCharge5.Text = "MiR_R1767";
                        break;
                    case 3:
                        TxtCharge6.Text = "MiR_R1768";
                        break;
                    default:
                        TxtCharge3.Text = "";
                        TxtCharge4.Text = "";
                        TxtCharge5.Text = "";
                        TxtCharge6.Text = "";
                        break;
                }
            }




            //if(cmbBoxAGVName.SelectedItem!=null)
            //{
            //    if(cmbBoxAGVName.SelectedItem.ToString()=="None")
            //    {
            //        TxtCharge3.Text = "";
            //        TxtCharge4.Text = "";
            //        TxtCharge5.Text = "";
            //        TxtCharge6.Text = "";
            //    }
            //    else
            //    {
            //        TxtCharge3.Text = cmbBoxAGVName.SelectedItem.ToString();
            //        TxtCharge4.Text = cmbBoxAGVName.SelectedItem.ToString();
            //        TxtCharge5.Text = cmbBoxAGVName.SelectedItem.ToString();
            //        TxtCharge6.Text = cmbBoxAGVName.SelectedItem.ToString();
            //    }

            //}

        }

        private void btnDeleteMission_Click(object sender, EventArgs e)
        {
            try
            {
                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
                {
                    ShowEmptyTask();
                    return;
                }
                if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
                    return;
                //int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);

                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
                if (idx > -1)
                {
                    if (Common.DelEmptyShelfTask(Common.nodeInfo[idx].Name))
                    {

                        ShowEmptyTask();
                        Common.LogInfo("手动删除任务成功：" + cmbBoxLineName.SelectedItem.ToString());
                    }
                    else
                    {
                        ShowEmptyTask();
                        Common.LogInfo("手动删除任务失败");
                    }
                }

            }
            catch (Exception ex)
            {
                ShowEmptyTask();
                Common.log.Error("手动删除任务失败：" + ex.Message);
            }
        }


        private void btnSetRFID_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].RFID = txtAgvRFID.Text.ToUpper();
                Common.LogInfo("手动设置 " + Common.agvInfo[idx].Name + " RFID=" + txtAgvRFID.Text);
            }
        }

        private void btnAddMission_Click(object sender, EventArgs e)
        {
            try
            {
                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
                {
                    ShowEmptyTask();
                    return;
                }
                if (cmbBoxLineName.SelectedItem.ToString().StartsWith("A"))
                    return;
                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
                    return;
                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
                if (idx > -1)
                {
                    if (Common.AddEmptyShelfTask(Common.nodeInfo[idx].Name))
                    {

                        ShowEmptyTask();
                        Common.LogInfo("手动添加任务成功：" + cmbBoxLineName.SelectedItem.ToString());
                    }
                    else
                    {
                        ShowEmptyTask();
                        Common.LogInfo("手动添加任务失败");
                    }

                }

            }
            catch (Exception ex)
            {
                ShowEmptyTask();
                Common.log.Error("手动添加任务失败：" + ex.Message);
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].IsExistShelf = !Common.agvInfo[idx].IsExistShelf;
                Common.LogInfo("手动设置 " + Common.agvInfo[idx].Name + " 负载状态=" + Common.agvInfo[idx].IsExistShelf);
            }
        }

    }
}