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
{
    /// <summary>
    /// 公共参数
    /// </summary>
    public static class Common
    {
        /// <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>
    /// 客户端的节点
    /// </summary>
    public class ClientNode
    {
        private string rfid = "00";

        /// <summary>
        /// 节点名称
        /// </summary>
        public string Name { set; get; }
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP { set; get; }
        /// <summary>
        /// RFID
        /// </summary>
        public string RFID
        {
            set
            {
                if (value.Length < 2)
                    rfid = value.PadLeft(2, '0');
                else
                    rfid = value;
            }
            get
            {
                return rfid;
            }
        }
        /// <summary>
        /// 动作
        /// </summary>
        public ClientAction Action { set; get; }
        /// <summary>
        /// 小车名称
        /// </summary>
        public string AgvName { set; get; }
        /// <summary>
        /// 在线
        /// </summary>
        public bool Online { set; get; }
        /// <summary>
        /// 是否可用
        /// </summary>
        public bool IsUse { set; get; }

        /// <summary>
        /// 节点位置的guid
        /// </summary>
        public string Pos_guid { set; get; }
        /// <summary>
        /// 节点位置名称
        /// </summary>
        public string Pos_name { get; set; }
        /// <summary>
        /// 节点位置坐标
        /// </summary>
        public PositionStru position;

        public string AliceName { get; set; }
        /// <summary>
        /// 客户端节点
        /// </summary>
        /// <param name="name"></param>
        /// <param name="ip"></param>
        /// <param name="isUse"></param>
        public ClientNode(string name, string ip, string aliceName, string pos_name, string pos_guid, bool isUse)
        {
            Name = name;
            IP = ip;
            AliceName = aliceName;
            RFID = rfid;
            Action = ClientAction.None;
            AgvName = "";
            Online = false;
            IsUse = isUse;
            this.Pos_name = pos_name;
            this.Pos_guid = pos_guid;
        }

        /// <summary>
        /// 客户端节点
        /// </summary>
        /// <param name="name"></param>
        /// <param name="rfid"></param>
        /// <param name="action"></param>
        /// <param name="level"></param>
        public ClientNode(string name, string rfid = "", ClientAction action = ClientAction.None)
        {
            Name = name;
            RFID = rfid;
            Action = action;
            AgvName = "";
            Online = false;
            IsUse = false;
        }

        /// <summary>
        /// 所有属性的文本形式
        /// </summary>
        /// <returns></returns>
        public string ToText()
        {
            string s = string.Format("Name={0}, Action={1}, RFID={2}", Name, Action, RFID);
            return s;
        }

        public string[] ToRow()
        {
            //节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
            string[] s = new string[9];
            s[0] = AliceName;
            s[1] = IP;
            if (Online)
            {
                s[2] = string.Format("({0},{1})", position.X.ToString("f2"), position.Y.ToString("f2"));
                s[3] = Action.ToString();
                s[4] = RFID;
                s[5] = AgvName;
            }
            s[6] = Online?"在线":"离线";
            s[7] = IsUse?"是":"否";
            s[8] = "清除";
            return s;
        }

        /// <summary>
        /// 脱机
        /// </summary>
        public void Offline()
        {
            RFID = "00";
            Action = ClientAction.None;
            AgvName = "";
            Online = false;
        }
    }

    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>
        public bool IsUse { set; get; }
        /// <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 PlaceState PlaceState { private set; get; }

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

        /// <summary>
        /// 负载
        /// </summary>
        public bool IsExistShelf { private set; get; } = false;
        /// <summary>
        /// 小车的状态，（从小车获取）
        /// </summary>
        public string StateText { private set; get; }
        /// <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; }
        /// <summary>
        /// 下一个地点
        /// </summary>
        public string NextPlace { set; get; }
        /// <summary>
        /// 下一个地点
        /// </summary>
        public string NextPlaceAliceName { set; get; } = "";

        /// <summary>
        /// 关门，用于执行一次
        /// </summary>
        //public bool CloseDoor { set; get; }
        /// <summary>
        /// 任务发送
        /// </summary>
        public string TaskSend { set; get; }
        /// <summary>
        /// 闲置等待时间，用于充电
        /// </summary>
        public int WaitTime { set; get; }
        /// <summary>
        /// 临时待机位，用于执行一次
        /// </summary>
        //public bool StandbyTemp { set; get; }
        public struct DockingStru
        {
            public DateTime startTime;
            public bool IsDocking;
        }
        /// <summary>
        /// 停靠信息
        /// </summary>
        public DockingStru DockingInfo;

        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; }
        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 = "";
            TaskSend = "";
            NextPlace = "";
            Msg = "";
            DockingInfo.IsDocking = false;
            DockingInfo.startTime = DateTime.Now;
            Position = new Agv_Info.clsPosition();
        }

        DateTime IoStartTime = DateTime.MaxValue;
        int IoLastTime = 5000;
        public bool SetState(int stateID, string stateText, int battery, string missionText, clsPosition position, bool[] input, bool[] output)
        {
            bool isChange = false;
            bool preShelfState = IsExistShelf;
            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) || !StateText.Equals(stateText)
                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState)) //!Battery.Equals(battery)
                isChange = true;
            StateID = stateID;
            StateText = stateText;
            Battery = battery;
            MissionText = missionText;
            Position = position;
            return isChange;
        }

        public void GetPlace(int value)
        {
            if (value < 1000)
            {
                Place = "";
                PlaceState = PlaceState.None;
                TaskSend = "";
            }
            else
            {
                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 = "";

                }
                PlaceState = (PlaceState)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);
            if (IsCon)
            {
                s.Add(StateText);
                s.Add(RFID);
                s.Add(Msg);
                s.Add(MissionText);
                s.Add(PlaceAliceName);
                s.Add(PlaceState.ToString());
                if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
                {
                    ClientNode node = Common.nodeInfo.Find(q => q.Name == NextPlace);
                    if (node != null)
                        NextPlaceAliceName = node.AliceName;
                    else
                        NextPlaceAliceName = "";
                }
                s.Add(NextPlaceAliceName);
            }
            else
            {
                s.AddRange(new List<string> { "", "","", "", "", "", "" });
            }
            s.Add(IsExistShelf ? "满载" : "空载");
            s.Add(IsCon?"在线":"离线");
            s.Add(Battery + "%");
            s.Add(IsUse?"是":"否");
            s.Add("清空");

            return s.ToArray();
        }


    }

    /// <summary>
    /// 客户端的动作
    /// </summary>
    public enum ClientAction : byte
    {
        /// <summary>
        /// 没有动作
        /// </summary>
        None = 0,
        /// <summary>
        /// 需要7寸D料架
        /// </summary>
        NeedD = 1,
        /// <summary>
        /// 需要大尺寸C料架
        /// </summary>
        NeedC = 2,
        /// <summary>
        /// 需要进入料架
        /// </summary>
        NeedEnter = 3,
        /// <summary>
        /// 需要出去料架
        /// </summary>
        NeedLeave = 4,
        /// <summary>
        /// 需要进入离开料架
        /// </summary>
        NeedEnterLeave = 5,
        /// <summary>
        /// 准备进入，服务器发送
        /// </summary>
        ReadyEnter = 6,
        /// <summary>
        /// 可以进入料架
        /// </summary>
        MayEnter = 7,
        /// <summary>
        /// 完成进入料架
        /// </summary>
        FinishEnter = 8,
        /// <summary>
        /// 准备离开，服务器发送
        /// </summary>
        ReadyLeave = 9,
        /// <summary>
        /// 可以出去料架
        /// </summary>
        MayLeave = 10,
        /// <summary>
        /// 完成出去料架
        /// </summary>
        FinishLeave = 11,

    }

    /// <summary>
    /// 地点状态
    /// </summary>
    public enum PlaceState
    {
        /// <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>
        /// 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>();
        }
    }

}