using System;
using System.Collections.Generic;
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 List<string> linePlace;
        public static System.Windows.Forms.TextBox logTextBox;

        public static BLL.AgvServer server;
        public static BLL.Control control;
        public static BLL.MiR_API mir;
        public static BLL.WebService web;

        public static string itsHttp;
        public static log4net.ILog log;
        public static Dictionary<string, string> agvMission;
        public static Dictionary<string, string> agvProductionLine;
        public static System.Configuration.Configuration appConfig;
        public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
        private static string msg = "";
        private static int logCnt = 0;
        public static void LogInfo(string text, bool isShow = true)
        {
            if (logTextBox.InvokeRequired)
            {
                logTextBox.Invoke(new Action(() => LogInfo(text)));
                return;
            }

            if (msg.Equals(text))//连续重复的日志只打印一次
                return;

            logCnt++;
            if (logCnt > 100)
            {
                logCnt = 0;
                msg = "";
            }
            log.Info(text);
            if (isShow)
            {
                msg += string.Format("[{0}] {1}\r\n", DateTime.Now.ToString("HH:mm:ss"), text);
                logTextBox.Text = msg;
            }
        }
        public static void ReadLinePlace()
        {
            if (!System.IO.File.Exists(CONFIG_PATH + "LinePlace.txt"))
                return;
            string[] s = System.IO.File.ReadAllLines(CONFIG_PATH + "LinePlace.txt");
            linePlace = new List<string>();
            linePlace.AddRange(s);
        }


        public static bool AddLinePlace(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
            if (idx > -1)
            {
                if (Common.linePlace.Contains(nodeName))
                {
                    LogInfo("AddLinePlace 节点" + nodeName + "已存在任务队列，无需重复添加");
                    return false;
                }
                Common.linePlace.Add(nodeName);
                System.IO.File.WriteAllLines(CONFIG_PATH + "LinePlace.txt", linePlace);
                return true;
            }
            else
            {
                log.Error("AddLinePlace 失败 节点" + nodeName + "不存在");
                return false;
            }

        }
        public static void RemoveLinePlace(string nodeName)
        {
            Common.linePlace.Remove(nodeName);
            System.IO.File.WriteAllLines(CONFIG_PATH + "LinePlace.txt", linePlace);
        }

        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.LogInfo(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.Error("CheckAGVMissionState 获取PLC20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
        /// </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>
        /// 客户端节点
        /// </summary>
        /// <param name="name"></param>
        /// <param name="ip"></param>
        /// <param name="isUse"></param>
        public ClientNode(string name, string ip, bool isUse)
        {
            Name = name;
            IP = ip;
            RFID = rfid;
            Action = ClientAction.None;
            AgvName = "";
            Online = false;
            IsUse = isUse;
        }

        /// <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[8];
            s[0] = Name;
            s[1] = IP;
            if (Online)
            {
                s[2] = Action.ToString();
                s[3] = RFID;
                s[4] = AgvName;
            }
            s[5] = Online.ToString();
            s[6] = IsUse.ToString();
            s[7] = "Clear";
            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>
        /// 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>
        /// 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>
        /// 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 Agv_Info(string id, string name, string ip, string authorization, bool isUse)
        {
            ID = id;
            Name = name;
            IP = ip;
            Authorization = authorization;
            RFID = "";
            IsCon = false;
            IsUse = isUse;
            Place = "";
            TaskSend = "";
            NextPlace = "";
            DockingInfo.IsDocking = false;
            DockingInfo.startTime = DateTime.Now;
        }

        public bool SetState(int stateID, string stateText, int battery, string missionText)
        {
            bool isChange = false;
            if (!StateID.Equals(stateID) || !StateText.Equals(stateText) || !Battery.Equals(battery) || !MissionText.Equals(missionText))
                isChange = true;
            StateID = stateID;
            StateText = stateText;
            Battery = battery;
            MissionText = missionText;
            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))
                    TaskSend = "";
                Place = (char)(64 + a) + b.ToString();
                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(MissionText);
                s.Add(Place);
                s.Add(NextPlace);
            }
            else
            {
                s.AddRange(new List<string> { "", "", "", "" });
            }
            s.Add(IsCon.ToString());
            s.Add(Battery + "%");
            s.Add(IsUse.ToString());
            s.Add("Clear");

            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
    }





}