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

namespace AGVControl_Elevator
{
    public partial class FrmMain : Form
    {
        private BLL.Control control;
        private Label[] lineDI;
        private Label[] lineShelf;
        private Label[] elevatorDI;
        private Button[] elevatorDO;
        private readonly Color BACK_FALSE = Color.FromArgb(240, 240, 240);
        private readonly Color BACK_TRUE = Color.FromArgb(128, 255, 128);
        
        public FrmMain()
        {
            InitializeComponent();
            control = new BLL.Control();
        }

        private void InitLineCall()
        {
            int count = Common.lineInfos.Count;
            lineShelf = new Label[count];
            lineDI = new Label[count];
            TlpLine.RowCount = count;
            TlpLine.RowStyles.Clear();
            CboLineName.Items.Clear();
            float percent = 100f / count;

            for (int i = 0; i < count; i++)
            {
                lineDI[i] = new Label
                {
                    Text = Common.lineInfos[i].Name,
                    Font = new Font("宋体", 12f),
                    Dock = DockStyle.Fill,
                    TextAlign = ContentAlignment.MiddleCenter,
                    Margin = new Padding(3),
                    BackColor = BACK_FALSE
                };
                TlpLine.Controls.Add(lineDI[i]);
                TlpLine.SetColumn(lineDI[i], 0);
                TlpLine.SetRow(lineDI[i], i);

                lineShelf[i] = new Label
                {
                    Text = "货架",
                    Font = new Font("宋体", 12f),
                    Dock = DockStyle.Fill,
                    TextAlign = ContentAlignment.MiddleCenter,
                    Margin = new Padding(3),
                    BackColor = BACK_FALSE
                };
                TlpLine.Controls.Add(lineShelf[i]);
                TlpLine.SetColumn(lineShelf[i], 1);
                TlpLine.SetRow(lineShelf[i], i);

                CboLineName.Items.Add(lineDI[i].Text);
                TlpLine.RowStyles.Add(new RowStyle(SizeType.Percent, percent));
            }

            CboLineName.SelectedIndex = 0;
        }

        private void InitElevatorIO()
        {
            List<IOInfo> lineDI = Common.elevatorInfos.FindAll(s => s.Type == "DI");
            List<IOInfo> lineDO = Common.elevatorInfos.FindAll(s => s.Type == "DO");
            elevatorDI = new Label[lineDI.Count];
            elevatorDO = new Button[lineDO.Count];

            int max = Math.Max(lineDI.Count, lineDO.Count);
            TlpElevator.RowCount = max;
            TlpElevator.RowStyles.Clear();
            float percent = 100f / max;

            for (int i = 0; i < max; i++)
                TlpElevator.RowStyles.Add(new RowStyle(SizeType.Percent, percent));

            for (int i = 0; i < elevatorDI.Length; i++)
            {
                elevatorDI[i] = new Label
                {
                    Text = lineDI[i].Name,
                    Font = new Font("宋体", 12f),
                    Dock = DockStyle.Fill,
                    TextAlign = ContentAlignment.MiddleCenter,
                    Margin = new Padding(3),
                    BackColor = BACK_FALSE
                };

                TlpElevator.Controls.Add(elevatorDI[i]);
                TlpElevator.SetColumn(elevatorDI[i], 0);
                TlpElevator.SetRow(elevatorDI[i], i);
            }

            for (int i = 0; i < elevatorDO.Length; i++)
            {
                elevatorDO[i] = new Button
                {
                    Text = lineDO[i].Name,
                    Font = new Font("宋体", 12f),
                    Dock = DockStyle.Fill,
                    TextAlign = ContentAlignment.MiddleCenter,
                    Margin = new Padding(3),
                    BackColor = BACK_FALSE
                };
                elevatorDO[i].Click += ElevatorDO_Click;
                TlpElevator.Controls.Add(elevatorDO[i]);
                TlpElevator.SetColumn(elevatorDO[i], 1);
                TlpElevator.SetRow(elevatorDO[i], i);
            }

        }



        private void Control_AgvChanged(int agvIndex)
        {
            Invoke(new Action(() =>
            {
                DgvName.Rows[agvIndex].SetValues(Common.agvInfos[agvIndex].ToGridRow());
                tableLayoutPanel5.Controls["TxtAgvMission" + agvIndex].Text = Common.agvInfos[agvIndex].ToMissionState();
            }));
        }

        private void Control_AgvOnline(int agvIndex)
        {
            Invoke(new Action(() =>
            {
                DgvName.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfos[agvIndex].IsOnline ? Color.Black : Color.Red;
                DgvName.Rows[agvIndex].SetValues(Common.agvInfos[agvIndex].ToGridRow());
                tableLayoutPanel5.Controls["TxtAgvMission" + agvIndex].Text = Common.agvInfos[agvIndex].ToMissionState();
            }));
        }

        private void LineCall_Connect_Event(bool con)
        {
            //LblLineIO.BackColor = con ? Color.Lime : Color.Red;
        }

        private void LineCall_DI_Changed()
        {
            for (int i = 0; i < Common.lineInfos.Count; i++)
            {
                lineDI[i].BackColor = Common.lineInfos[i].LineCall ? BACK_TRUE : BACK_FALSE;
                lineShelf[i].BackColor = Common.lineInfos[i].ShelfExist ? BACK_TRUE : BACK_FALSE;
            }
        }

        private void Elevator_DO_Changed(bool[] sta)
        {
            for (int i = 0; i < elevatorDO.Length; i++)
                elevatorDO[i].BackColor = sta[i] ? BACK_TRUE : BACK_FALSE;
        }

        private void Elevator_DI_Changed(bool[] sta)
        {
            string s = "DI ";

            for (int i = 0; i < elevatorDI.Length; i++)
            {
                s += sta[i].ToString() + " ";
                elevatorDI[i].BackColor = sta[i] ? BACK_TRUE : BACK_FALSE;
            }

            Common.log.Info(s);
        }

        private void Elevator_Connect_Event(bool con)
        {
            LblElevatorIO.BackColor = con ? Color.Lime : Color.Red;
        }

        private void ElevatorDO_Click(object sender, EventArgs e)
        {
            if (ChkMissionDebug.Checked)
            {
                Button btn = sender as Button;
                int index = Array.FindIndex(elevatorDO, s => s == btn);
                BLL.ManageWork.elevator.WriteDO(index);
            }
        }

        private void FrmMain_Load(object sender, EventArgs e)
        {
            InitLineCall();
            InitElevatorIO();
            Common.log.LogBox = TxtLog;
            LstMission.Items.AddRange(Common.agvMissions.Keys.ToArray());
            NudShelfCurr.Value = Common.FirstFloorCurr;
            NudShelfCount.Value = Common.FirstFloorCount;
            ChkAutoCharge.Checked = Common.AutoCharge;

            for (int i = 0; i < Common.agvInfos.Count; i++)
            {
                DgvName.Rows.Add(Common.agvInfos[i].ToGridRow());
                DgvName.Rows[i].DefaultCellStyle.ForeColor = Color.Red;
                DgvName.Rows[i].HeaderCell.Value = (i + 1).ToString();
                DgvName.Rows[i].Height = 30;
            }

            BLL.ManageWork.Init();
            BLL.ManageWork.line.Connect_Event += LineCall_Connect_Event;
            BLL.ManageWork.line.DI_Changed += LineCall_DI_Changed;
            BLL.ManageWork.elevator.Connect_Event += Elevator_Connect_Event;
            BLL.ManageWork.elevator.DI_Changed += Elevator_DI_Changed;
            BLL.ManageWork.elevator.DO_Changed += Elevator_DO_Changed;
            BLL.ManageWork.Start();

            control.AgvChanged += Control_AgvChanged;
            control.AgvOnline += Control_AgvOnline;
            control.Start();

            BLL.RunMode.Init(this);
        }

        private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (BLL.RunMode.Closing(e))
            {
                control.Stop();
                BLL.ManageWork.Stop();
            }
        }

        #region 手动添加小车任务
        private void BtnMissionAdd_Click(object sender, EventArgs e)
        {
            if (DgvName.SelectedCells.Count == 0) return;
            int idx = DgvName.SelectedCells[0].RowIndex;
            if (idx < 0) return;

            AgvInfo info = Common.agvInfos[idx];
            if (info.IsAuto)
            {
                MessageBox.Show(info.Name + " 自动状态，不允许手动发送任务");
                return;
            }

            if (LstMission.SelectedIndex == -1) return;
            if (Common.FleetSend)
                Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, LstMission.Text, out string id);
            else
                Common.mir.Add_Mission(info.IP, info.Authorization, LstMission.Text, out string id);
        }

        private void BtnMissionClear_Click(object sender, EventArgs e)
        {
            if (DgvName.SelectedCells.Count == 0) return;
            int idx = DgvName.SelectedCells[0].RowIndex;
            if (idx < 0) return;

            AgvInfo info = Common.agvInfos[DgvName.SelectedRows[0].Index];
            Common.mir.Del_Mission(info.IP, info.Authorization);
        }

        private void BtnMissionRun_Click(object sender, EventArgs e)
        {
            if (DgvName.SelectedCells.Count == 0) return;
            int idx = DgvName.SelectedCells[0].RowIndex;
            if (idx < 0) return;

            AgvInfo info = Common.agvInfos[idx];
            Common.mir.State_Ready(info.IP, info.Authorization);
        }

        private void BtnMissionPause_Click(object sender, EventArgs e)
        {
            if (DgvName.SelectedCells.Count == 0) return;
            int idx = DgvName.SelectedCells[0].RowIndex;
            if (idx < 0) return;

            AgvInfo info = Common.agvInfos[idx];
            Common.mir.State_Pause(info.IP, info.Authorization);
        }


        #endregion

        private void DgvName_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex == -1) return;
            AgvInfo info = Common.agvInfos[e.RowIndex];

            if (e.ColumnIndex == DgvName.Columns.Count - 2)  //最后二列，自动/手动
            {
                info.IsAuto = !info.IsAuto;
                DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
                Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString();
                Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
                System.Configuration.ConfigurationManager.RefreshSection("appSettings");
                Common.log.UI_Display(string.Format("手动修改 {0} 的自动状态为{1}", info.Name, info.IsAuto));
                Common.log.Info(string.Format("手动修改 {0} 的自动状态为{1}", info.Name, info.IsAuto));
            }
            else if (e.ColumnIndex == DgvName.Columns.Count - 1)  //最后一列，清除任务
            {
                string text = "确定要清除 " + info.Name + " 的任务吗？";
                DialogResult dr = MessageBox.Show(text, "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
                if (dr == DialogResult.Yes)
                {
                    BLL.ManageWork.PauseFull = false;
                    info.CurrentJob = null;
                    Common.mir.Del_Mission(info.IP, info.Authorization);
                    info.IsAuto = false;
                    info.Place = "";
                    DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex - 1].Value = info.IsAuto.ToString();
                    Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString();
                    Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
                    System.Configuration.ConfigurationManager.RefreshSection("appSettings");
                    Common.log.UI_Display(string.Format("手动清除 {0} 的当前任务，并且自动状态改为{1}", info.Name, info.IsAuto));
                    Common.log.Info(string.Format("手动清除 {0} 的当前任务，并且自动状态改为{1}", info.Name, info.IsAuto));
                }
            }
        }

        private void BtnLineCall_Click(object sender, EventArgs e)
        {
            LineIOInfo info = Common.lineInfos[CboLineName.SelectedIndex];
            string text = string.Format("确定要取消 {0} 呼叫吗？", info.Name);
            DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
            if (dr == DialogResult.No) return;

            info.LineCall = false;
            lineDI[CboLineName.SelectedIndex].BackColor = info.LineCall ? BACK_TRUE : BACK_FALSE;
            Common.log.Info(string.Format("手动取消{0}呼叫", info.Name));
            BLL.ManageWork.line.Save();
        }

        private void BtnLineShelf_Click(object sender, EventArgs e)
        {
            LineIOInfo info = Common.lineInfos[CboLineName.SelectedIndex];
            string text = string.Format("确定要改变 {0} 货架状态吗？", info.Name);
            DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
            if (dr == DialogResult.No) return;

            info.ShelfExist = !info.ShelfExist;
            lineShelf[CboLineName.SelectedIndex].BackColor = info.ShelfExist ? BACK_TRUE : BACK_FALSE;
            Common.log.Info(string.Format("手动改变{0}货架状态{1}", info.Name, info.ShelfExist));
            BLL.ManageWork.line.Save();
        }

        private void ChkMissionDebug_CheckedChanged(object sender, EventArgs e)
        {
            CboLineName.Enabled = ChkMissionDebug.Checked;
            BtnLineCall.Enabled = ChkMissionDebug.Checked;
            BtnLineShelf.Enabled = ChkMissionDebug.Checked;
            NudShelfCurr.Enabled = ChkMissionDebug.Checked;
            NudShelfCount.Enabled = ChkMissionDebug.Checked;
            BtnShelfGet.Enabled = ChkMissionDebug.Checked;
            BtnShelfSet.Enabled = ChkMissionDebug.Checked;
            ChkAutoCharge.Enabled = ChkMissionDebug.Checked;
        }

        private void BtnClearLog_Click(object sender, EventArgs e)
        {
            Common.log.UI_Clear();
        }

        private void BtnShelfSet_Click(object sender, EventArgs e)
        {
            Common.FirstFloorCurr = Convert.ToInt32(NudShelfCurr.Value);
            BLL.ManageWork.FirstFloorSave();

            int n = Convert.ToInt32(NudShelfCount.Value);
            if (Common.FirstFloorCount != n)
            {
                Common.FirstFloorCount = n;
                Common.appConfig.AppSettings.Settings["FirstFloorCount"].Value = n.ToString();
                Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
                System.Configuration.ConfigurationManager.RefreshSection("appSettings");
            }
            MessageBox.Show("设置保存成功");
        }

        private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
        {
            Common.AutoCharge = ChkAutoCharge.Checked;
            Common.appConfig.AppSettings.Settings["AutoCharge"].Value = Common.AutoCharge.ToString();
            Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
            System.Configuration.ConfigurationManager.RefreshSection("appSettings");
        }

        private void BtnShelfGet_Click(object sender, EventArgs e)
        {
            NudShelfCurr.Value = Common.FirstFloorCurr;
            NudShelfCount.Value = Common.FirstFloorCount;
        }

        private void BtnEmptyError_Click(object sender, EventArgs e)
        {
            //System.Threading.Thread thread = new System.Threading.Thread(new System.Threading.ThreadStart(BLL.ManageWork.EmptyErrorDispose));
            //thread.Start();


            


            if (DgvName.SelectedCells.Count == 0) return;
            AgvInfo info = Common.agvInfos[DgvName.SelectedCells[0].RowIndex];
            if (info.IsAuto)
            {
                MessageBox.Show(info.Name + "自动模式不允许操作");
            }
            else
            {
                BLL.ManageWork.EmptyErrorDispose();
                Common.log.Info("手动异常处理，结束回收货架任务");
                MessageBox.Show("结束回收货架任务处理完成", "", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }

        private void BtnFullError_Click(object sender, EventArgs e)
        {
            //System.Threading.Thread thread = new System.Threading.Thread(new System.Threading.ThreadStart(BLL.ManageWork.FullErrorDispose));
            //thread.Start();



            if (DgvName.SelectedCells.Count == 0) return;
            AgvInfo info = Common.agvInfos[DgvName.SelectedCells[0].RowIndex];
            if (info.IsAuto)
            {
                MessageBox.Show(info.Name + "自动模式不允许操作");
            }
            else
            {
                BLL.ManageWork.FullErrorDispose();
                Common.log.Info("手动异常处理，结束送满料任务");
                MessageBox.Show("结束送满料任务处理完成", "", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }
    }
}