using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;

namespace AGVControl
{
    public static class Common
    {
        public static Asa.File.Log log;
        public static BLL.MiR_API mir;
        public static List<ClientNode> nodeInfo;
        public static List<Agv_Info> agvInfo;
        public static BLL.AgvServer server;
        public static BLL.Control control;
        public static Dictionary<string, string> agvMission;
        public static Dictionary<string, string> webService;
        public static ChargeStatus chargeStatus;
        public static System.Configuration.Configuration appConfig;

        public static readonly string LOG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Log";
        public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";

    }

    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>
    /// 客户端的节点
    /// </summary>
    public class ClientNode
    {
        /// <summary>
        /// 节点名称
        /// </summary>
        public string Name { set; get; }
        /// <summary>
        /// 标记，用于包装料仓
        /// </summary>
        public string Mark { set; get; }
        /// <summary>
        /// 当前架子的RFID
        /// </summary>
        public string RFID { set; get; }
        /// <summary>
        /// 动作
        /// </summary>
        public ClientAction Action { set; get; }
        /// <summary>
        /// 优先级
        /// </summary>
        public ClientLevel Level { 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>
        /// 客户端的节点
        /// </summary>
        /// <param name="name"></param>
        public ClientNode(string name)
        {
            Name = name;
            Mark = "";
            RFID = "";
            Action = ClientAction.None;
            Level = ClientLevel.Low;
            AgvName = "";
            Online = false;
            IsUse = true;
        }

        /// <summary>
        /// 客户端的节点
        /// </summary>
        /// <param name="name"></param>
        /// <param name="isUse"></param>
        public ClientNode(string name, bool isUse) : this(name)
        {
            IsUse = isUse;
        }

        public ClientNode(string name, string rfid, ClientAction action)
        {
            Name = name;
            Mark = "";
            RFID = rfid;
            Action = action;
            Level = ClientLevel.Low;
            AgvName = "";
            Online = false;
            IsUse = true;
        }

        public string[] ToRow()
        {
            //节点,动作,优先级,标志,RFID,AGV名称,在线,调用,清除AGV
            string[] s = new string[9];
            s[0] = Name;
            if (Online)
            {
                s[1] = Action.ToString();
                s[2] = Level.ToString();
                s[3] = Mark;
                s[4] = RFID;
                s[5] = AgvName;
            }
            s[6] = Online.ToString();
            s[7] = IsUse.ToString();
            s[8] = "Clear";
            return s;
        }

        public string ToText()
        {
            string s = string.Format("Name={0}, Action={1}, Level={2}, Mark={3}, RFID={4}", Name, Action, Level, Mark, RFID);
            return s;
        }

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

    }

    /// <summary>
    /// 客户端的动作
    /// </summary>
    public enum ClientAction : byte
    {
        /// <summary>
        /// 没有动作
        /// </summary>
        None = 0,
        /// <summary>
        /// 关门（仅包装料仓）
        /// </summary>
        CloseDoor = 1,
        /// <summary>
        /// 可以进入料架（仅包装料仓）
        /// </summary>
        MayEnter = 2,
        /// <summary>
        /// 可以出去料架（仅包装料仓）
        /// </summary>
        MayLeave = 3,
        /// <summary>
        /// 需要进入料架
        /// </summary>
        NeedEnter = 4,
        /// <summary>
        /// 需要出去料架
        /// </summary>
        NeedLeave = 5,
        /// <summary>
        /// 完成进入料架
        /// </summary>
        FinishEnter = 6,
        /// <summary>
        /// 完成出去料架
        /// </summary>
        FinishLeave = 7,
        /// <summary>
        /// 小车到达
        /// </summary>
        Arrive = 8,
        /// <summary>
        /// 小车已准备好
        /// </summary>
        Ready = 9,
        /// <summary>
        /// 只能入料不能出料（仅包装料仓）
        /// </summary>
        EnterShelf = 10
    }

    /// <summary>
    /// 客户端的优先级
    /// </summary>
    public enum ClientLevel : byte
    {
        /// <summary>
        /// 低
        /// </summary>
        Low = 0,
        /// <summary>
        /// 中等
        /// </summary>
        Middle = 1,
        /// <summary>
        /// 高
        /// </summary>
        High = 2
    }

    public enum Mission_Status
    {
        /// <summary>
        /// 没有动作
        /// </summary>
        None = 0,
        /// <summary>
        /// 小车到达
        /// </summary>
        Arrive = 1,
        /// <summary>
        /// 小车已准备好
        /// </summary>
        Ready = 2,
        /// <summary>
        /// 完成进入
        /// </summary>
        FinishEnter = 3,
        /// <summary>
        /// 完成离开
        /// </summary>
        FinishLeave = 4,
        /// <summary>
        /// 等待
        /// </summary>
        //Wait = 5,
        /// <summary>
        /// 小车到达后等待
        /// </summary>
        ArriveWait = 6,
        /// <summary>
        /// 报错
        /// </summary>
        Error = 10,
        /// <summary>
        /// 执行任务中
        /// </summary>
        StartMission = 11,
        /// <summary>
        /// 自动充电完成
        /// </summary>
        AutoCharge = 12
    }

    public class Agv_Info
    {
        /// <summary>
        /// 小车名称
        /// </summary>
        public string Name { set; get; }
        /// <summary>
        /// 小车在FLEET中的ID号
        /// </summary>
        public string ID { set; get; }
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP { set; get; }
        /// <summary>
        /// 授权码
        /// </summary>
        public string Authorization { set; get; }
        /// <summary>
        /// IO模块的ID号
        /// </summary>
        public string IOID { set; get; }
        /// <summary>
        /// 标记
        /// </summary>
        public string Mark { 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>
        /// 小车的状态id
        /// </summary>
        public int StateID { set; get; }
        /// <summary>
        /// 小车的状态
        /// </summary>
        public string StateText { set; get; }
        /// <summary>
        /// 电量百分比
        /// </summary>
        public int Battery { set; get; }
        /// <summary>
        /// 任务文本
        /// </summary>
        public string Mission_text { set; get; }
        /// <summary>
        /// 任务的状态
        /// </summary>
        public Mission_Status MissionStatus { set; get; }
        /// <summary>
        /// 下一个任务
        /// </summary>
        public string NextMission { set; get; }
        /// <summary>
        /// 关门，用于执行一次
        /// </summary>
        public bool CloseDoor { set; get; }
        /// <summary>
        /// 任务发送，用于已调用API，但还没有修改状态
        /// </summary>
        public bool 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 string CurTaskName { get; set; }

        /// <summary>
        /// 剩余出库任务，针对包装仓出库
        /// </summary>
        public int LeftTaskCnt { get; set; } = 0;
        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, string ioId, bool isUse)
        {
            ID = id;
            Name = name;
            IP = ip;
            Authorization = authorization;
            IOID = ioId;
            Mark = "";
            RFID = "";
            IsCon = false;
            IsUse = isUse;
            Place = "";
            StateText = "";
            WaitTime = 0;
            DockingInfo.IsDocking = false;
            DockingInfo.startTime = DateTime.Now;
        }

        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> vs = new List<string>();
            vs.Add(Name);
//            vs.Add(IP);
            if (IsCon)
            {
                vs.Add(StateText);
                vs.Add(string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus));
                vs.Add(Mark);
                vs.Add(RFID);
                vs.Add(Place);
                vs.Add(NextMission);
            }
            else
                vs.AddRange(new string[]{ "","","","","",""});
            vs.Add(IsCon.ToString());
            vs.Add(Battery + "%");
            vs.Add(IsUse.ToString());
            vs.Add("Clear");

            return vs.ToArray();
        }


        public string[] ToMission()
        {
            //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
            string[] s = new string[3];
            s[0] = Name;
            s[1] = CurTaskName;
            s[2] = Mission_text;

            return s;
        }
        /// <summary>
        /// 脱机
        /// </summary>
        public void Offline()
        {
            IsCon = false;
            //Mark = "";
            //RFID = "";
            //Place = "";
            //StateID = -1;
            //StateText = "";
            //MissionStatus = Mission_Status.None;
            //MissionQueue = "";
        }
    }

    public class ChargeStatus
    {
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge1 = "";
        /// <summary>
        /// 1号充电桩的AGV名称
        /// </summary>
        public string charge2 = "";
        /// <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;
        }

    }


}