using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Acc.AgvManager.demo
{
    /// <summary>
    /// 产线
    /// </summary>
    public class LineNode : Node
    {
        private string _place;

        /// <summary>
        /// 解绑的RFID列表
        /// </summary>
        private List<String> unBindRfidList = new List<string>();
        /// <summary>
        /// 正在执行此任务的AGV，拉上料架后从列表中清除，同时ShelfTakeCount + 1
        /// </summary>
        private List<String> taskAgvList = new List<string>();

        /// <summary>
        /// 添加解绑料架
        /// </summary>
        /// <param name="rfid"></param>
        public void AddUnBindRfid(string rfid)
        {
            if (!unBindRfidList.Contains(rfid))
            {
                Common.LogUtil.info("添加解绑料架["+rfid+"]");
                unBindRfidList.Add(rfid);
            }
            else
            {
                Common.LogUtil.info("添加解绑料架[" + rfid + "]失败，该料架已经解绑过");
            }
        }
        

        /// <summary>
        /// 已经拉走了几个空料架
        /// </summary>
        public int AlreadyTakeCount { get; set; }

        public LineNode(string place)
        {
            this._place = place;
        }

        public override string GetNodeName()
        {
            return _place;
        }

        /// <summary>
        /// AGV已经拉上料架
        /// </summary>
        /// <returns></returns>
        public void FinishedOneShelfTask(string agvName)
        {
            if (taskAgvList.Contains(agvName))
            {
                Common.LogUtil.info("AGV[" + agvName + "]已将[" + _place + "]的一个空料架拉上车，解除任务锁定");
                taskAgvList.Remove(agvName);
                AlreadyTakeCount = AlreadyTakeCount + 1;
                if (AlreadyTakeCount == unBindRfidList.Count)
                {
                    Common.LogUtil.info("[" + _place + "]的解绑的空料架已全部拉走");
                    AlreadyTakeCount = 0;
                    unBindRfidList = new List<string>();
                }
            }
        }

        /// <summary>
        /// 是否有空料架需要回收
        /// </summary>
        /// <returns></returns>
        public bool HasShelfToTake()
        {
            int remainUnBindShelf = unBindRfidList.Count - taskAgvList.Count - AlreadyTakeCount;
            return remainUnBindShelf > 0;
        }

        /// <summary>
        /// 开始一辆车去拉料架
        /// </summary>
        public bool StartOneTask(string agvName)
        {
            if(HasShelfToTask())
            {
                if (!taskAgvList.Contains(agvName))
                {
                    taskAgvList.Add(agvName);
                    Common.LogUtil.info("AGV["+ agvName + "]锁定["+ _place + "]一个空料架任务");
                }
            }
            return false;
        }
    }
}