using System.Net;
using System.Net.Sockets;
using System;
using System.Threading;
using System.Collections.Generic;
using System.Text;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.IOSystemDomain;
using System.Diagnostics;
using common = DoubleLine.Common;

namespace BLL
{
    public class ABB
    {
        //private readonly Dictionary<ControllerState, string> STATE_STRING = new Dictionary<ControllerState, string>() { { ControllerState.Init, "初始化" }, { ControllerState.MotorsOff, "手动" }, { ControllerState.MotorsOn, "自动" }, { ControllerState.GuardStop, "卡住" }, { ControllerState.EmergencyStop, "急停" }, { ControllerState.EmergencyStopReset, "急停复位" }, { ControllerState.SystemFailure, "系统故障" }, { ControllerState.Unknown, "未知" } };
        private bool loop;
        private string[] _cmd;
        private Socket server;
        private Thread tListenClient;
        private Thread tStatus;
        private Client[] _client;
        private Thread tMultitask;
        private NetworkScanner scanner = null;
        private NetworkWatcher networkwatcher = null;

        public delegate void StatusEvent(int idx);
        public event StatusEvent StatusChanged;
        public event StatusEvent ServerChanged;


        public ABB()
        {
            _client = new Client[3];
            for (int i = 0; i < _client.Length; i++)
                _client[i] = new Client();
        }

        /// <summary>
        /// 停止多个任务
        /// </summary>
        public bool StopMultitask { set; get; } = false;




        public void Start()
        {
            common.log.OutInfo("开启ABB机器人");
            LoadController();
            OpenServer();
        }

        public void Exit()
        {
            loop = false;
            //tListenClient.Abort();

            if (_client != null)
            {
                for (int i = 0; i < _client.Length; i++)
                {
                    _client[i].Loop = false;
                    _client[i].IsConn = false;
                    if (_client[i].Socket != null)
                        _client[i].Socket.Close();
                }
            }

            if (server != null)
                server.Close();
            common.log.OutInfo("关闭ABB机器人");
        }

        public void SendCommand(int idx, string s)
        {
            try
            {
                if (_client[idx] == null) return;
                if (!_client[idx].IsConn) return;
                byte[] buff = Encoding.ASCII.GetBytes(s);
                _client[idx].Socket.Send(buff);
                common.log.OutInfo(common.ABB_Info[idx].Name + " Send:" + s);
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }
        }

        public void Multitask(int idx, string[] cmd)
        {
            _cmd = cmd;
            StopMultitask = false;
            tMultitask = new Thread(new ParameterizedThreadStart(Multitask));
            tMultitask.Start(idx);
        }

        /// <summary>
        /// Get指令
        /// </summary>
        /// <param name="idx">机器人索引号</param>
        /// <param name="point">架位，带p</param>
        /// <param name="speed">速度</param>
        public void MoveGet(int idx, string point, int speed)
        {
            common.ABB_Info[idx].GetStart = true;
            common.ABB_Info[idx].GetEnd = false;
            common.ABB_Info[idx].PutStart = false;
            common.ABB_Info[idx].PutIn = false;
            common.ABB_Info[idx].PutEnd = false;

            point = point.ToLower();
            string s = string.Format("{0},{1},{2},{3}", common.ABB_MOVEGET, point, "L", speed);
            SendCommand(idx, s);
            common.log.OutInfo(common.ABB_Info[idx].Name + " MoveGet Start");
        }

        /// <summary>
        /// Put指令
        /// </summary>
        /// <param name="idx">机器人索引号</param>
        /// <param name="point">架位，带c/d</param>
        /// <param name="speed">速度</param>
        public void MovePut(int idx, string point, int speed)
        {
            common.ABB_Info[idx].GetStart = false;
            common.ABB_Info[idx].GetEnd = false;
            common.ABB_Info[idx].PutStart = true;
            common.ABB_Info[idx].PutIn = false;
            common.ABB_Info[idx].PutEnd = false;

            point = point.ToLower();
            string s = string.Format("{0},{1},{2},{3}", common.ABB_MOVEPUT, point, "L", speed);
            SendCommand(idx, s);
            common.log.OutInfo(common.ABB_Info[idx].Name + " MovePut Start");
        }












        private void StartDevice(int idx)
        {
            try
            {
                if (_client[idx].Ctl == null)
                {
                    common.log.OutInfo(common.ABB_Info[idx].Name + " 没有连接");
                }
                else
                {
                    if (_client[idx].IsConn)
                    {
                        common.log.OutInfo(common.ABB_Info[idx].Name + " 已经打开");
                    }
                    else
                    {
                        Signal signal = _client[idx].Ctl.IOSystem.GetSignal("di_start");
                        ((DigitalSignal)signal).Set();
                        Thread.Sleep(100);
                        ((DigitalSignal)signal).Reset();
                        common.ABB_Info[idx].IsOpen = true;
                        common.log.OutInfo(common.ABB_Info[idx].Name + " 打开设备");
                    }
                }
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }
        }

        private void StopDevice(int idx)
        {
            try
            {
                if (_client[idx].Ctl == null)
                {
                    common.log.OutInfo(common.ABB_Info[idx].Name + " 没有连接");
                }
                else
                {
                    Signal signal = _client[idx].Ctl.IOSystem.GetSignal("di_stop");
                    ((DigitalSignal)signal).Set();
                    Thread.Sleep(100);
                    ((DigitalSignal)signal).Reset();
                    Thread.Sleep(100);

                    common.ABB_Info[idx].IsOpen = false;
                    if (tMultitask != null) tMultitask.Abort();
                    _client[idx].IsConn = false;
                    _client[idx].Loop = false;
                    _client[idx].Socket.Close();

                    ServerChanged?.Invoke(idx);
                    common.log.OutInfo(common.ABB_Info[idx].Name + " 关闭");
                }
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }
        }

        private void Multitask(object obj)
        {
            int idx = (int)obj;
            if (_client[idx] == null) return;
            if (!_client[idx].IsConn) return;

            for (int i = 0; i < _cmd.Length; i++)
            {
                common.ABB_Info[idx].PutStart = true;
                common.ABB_Info[idx].PutIn = false;
                common.ABB_Info[idx].PutEnd = false;

                SendCommand(idx, _cmd[i]);
                while (true)
                {
                    Thread.Sleep(1000);
                    if (common.ABB_Info[idx].PutEnd)
                        break;
                }

                if (StopMultitask)
                {
                    StopMultitask = false;
                    break;
                }
                Thread.Sleep(1000);
            }
        }

        private void ListenClient()
        {
            while (loop)
            {
                try
                {
                    Socket socket = server.Accept();  //这边会暂停，不需要sleep
                    IPEndPoint ep = (IPEndPoint)socket.RemoteEndPoint;
                    Thread thread = new Thread(new ParameterizedThreadStart(Received));
                    string ip = ep.Address.ToString();
                    int idx = Array.FindIndex(common.ABB_Info, s => s.IP == ip);
                    if (idx == -1) continue;

                    _client[idx].Socket = socket;
                    _client[idx].Receive = thread;
                    _client[idx].IsConn = true;
                    _client[idx].Loop = true;
                    common.ABB_Info[idx].IsOpen = true;
                    //common.ABB_Info[idx].State = "";
                    thread.Start(idx);

                    ServerChanged?.Invoke(idx);
                    common.log.OutInfo(common.ABB_Info[idx].Name + " 连接到服务端");
                }
                catch (Exception ex)
                {
                    common.log.OutError(ex);
                }
            }
        }

        private void ListenStatus()
        {
            int sum;

            while (loop)
            {
                sum = 0;
                try
                {
                    for (int i = 0; i < _client.Length; i++)
                    {
                        if (_client[i].Ctl == null)
                        {
                            common.log.OutInfo("ListenStatus " + common.ABB_Info[i].Name + " 不存在");
                        }
                        else
                        {
                            if (_client[i].Ctl.State.ToString() == common.ABB_Info[i].State)
                                continue;
                            common.ABB_Info[i].State = _client[i].Ctl.State.ToString();
                            StatusChanged?.Invoke(i);
                            if (_client[i].Ctl.State == ControllerState.MotorsOn)
                            {
                                if (!_client[i].IsConn) StartDevice(i);
                            }
                            else
                            {
                                if (_client[i].IsConn)
                                    StopDevice(i);
                            }
                            if (_client[i].IsConn) sum++;
                        }
                    }

                }
                catch (Exception ex)
                {
                    common.log.OutError(ex);
                }
                Thread.Sleep(1000);
            }
        }

        private void Received(object obj)
        {
            int idx = (int)obj;
            Socket client = _client[idx].Socket;

            while (_client[idx].Loop)
            {
                if (!_client[idx].IsConn) break;
                if (client.Available > 0)
                {
                    byte[] buffer = new byte[1024];
                    int count = client.Receive(buffer);

                    //返回的命令用逗号(,)分隔，最后有分号(;)
                    string ss = Encoding.ASCII.GetString(buffer, 0, count);
                    common.log.OutInfo(common.ABB_Info[idx].Name + " Receive:" + ss);
                    string[] arr = ss.Split(',');

                    if (arr[0] == common.ABB_MOVEGET)
                    {
                        common.ABB_Info[idx].GetStart = false;
                        common.ABB_Info[idx].GetEnd = true;
                        common.log.OutInfo(common.ABB_Info[idx].Name + " Start=false End=true");
                    }
                    else if (arr[0] == common.ABB_MOVEPUT)
                    {
                        common.ABB_Info[idx].PutStart = false;
                        if (arr[4].StartsWith("OK"))
                        {
                            common.ABB_Info[idx].PutIn = false;
                            common.ABB_Info[idx].PutEnd = true;
                            common.log.OutInfo(common.ABB_Info[idx].Name + " Start=false In=false End=true");
                        }
                        else if (arr[4].StartsWith("FINISHED"))
                        {
                            common.ABB_Info[idx].PutIn = true;
                            common.ABB_Info[idx].PutEnd = false;
                            common.log.OutInfo(common.ABB_Info[idx].Name + " Start=false In=true End=false");
                        }
                        else
                        {
                            common.log.OutInfo(common.ABB_Info[idx].Name + " arr[4]=" + arr[4]);
                        }
                    }
                }
                Thread.Sleep(100);
            }
        }

        private void OpenServer()
        {
            try
            {
                string ip = System.Configuration.ConfigurationManager.AppSettings["Local_IP"];
                IPAddress[] add = Dns.GetHostEntry(Dns.GetHostName()).AddressList;
                bool find = false;
                foreach (IPAddress ipAdd in add)
                {
                    if (ipAdd.AddressFamily.ToString() == "InterNetwork")
                    {
                        if (ip == ipAdd.ToString())
                        {
                            find = true;
                            break;
                        }
                    }
                }

                if (find)
                {
                    IPEndPoint localEP = new IPEndPoint(IPAddress.Parse(ip), 21);
                    server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                    server.Bind(localEP);
                    server.Listen(10);
                    tListenClient = new Thread(new ThreadStart(ListenClient));
                    tStatus = new Thread(new ThreadStart(ListenStatus));

                    loop = true;
                    tListenClient.Start();
                    tStatus.Start();
                    common.log.OutInfo("ABB Server Open");
                }
                else
                {
                    common.log.OutInfo("没有找到本地IP:" + ip);
                    common.log.OutTextBox("没有找到本地IP:" + ip);
                }
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }
        }

        public void LoadController()
        {
            try
            {
                scanner = new NetworkScanner();
                scanner.Scan();
                common.log.OutInfo("ABB Controller Count=" + scanner.Controllers.Count);

                foreach (ControllerInfo controllerInfo in scanner.Controllers)
                {
                    string ip = controllerInfo.IPAddress.ToString();
                    int idx = Array.FindIndex(common.ABB_Info, s => s.IP == ip);
                    if (idx == -1) return;

                    _client[idx] = new Client { Ctl = ControllerFactory.CreateFrom(controllerInfo) };
                    _client[idx].Ctl.Logon(UserInfo.DefaultUser);
                    //_client[idx].Ctl.StateChanged += Controller_StateChanged;

                    common.ABB_Info[idx].GetStart = false;
                    common.ABB_Info[idx].GetEnd = true;
                    common.ABB_Info[idx].PutStart = false;
                    common.ABB_Info[idx].PutIn = false;
                    common.ABB_Info[idx].PutEnd = true;
                    common.ABB_Info[idx].State = "";

                    common.log.OutInfo(common.ABB_Info[idx].Name + " State=" + _client[idx].Ctl.State.ToString());
                }

                networkwatcher = new NetworkWatcher(scanner.Controllers);
                networkwatcher.Found += new EventHandler<NetworkWatcherEventArgs>(FoundEvent);
                networkwatcher.Lost += new EventHandler<NetworkWatcherEventArgs>(LostEvent);
                networkwatcher.EnableRaisingEvents = true;
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }

        }

        private void Controller_StateChanged(object sender, StateChangedEventArgs e)
        {
            //try
            //{
            //    Controller ctl = (sender as Controller);
            //    int idx = Array.FindIndex(common.ABB_Info, s => s.IP == ctl.IPAddress.ToString());
            //    if (idx == -1) return;
            //    common.ABB_Info[idx].State = ctl.State.ToString();
            //    StatusChanged?.Invoke(idx);

            //    if (ctl.State == ControllerState.MotorsOn)
            //    {
            //        if(!_client[idx].IsConn)
            //            StartDevice(idx);
            //    }
            //    else
            //    {
            //        if (_client[idx].IsConn)
            //            StopDevice(idx);
            //    }
            //}
            //catch (Exception ex)
            //{
            //    common.log.OutError(ex);
            //}
        }

        private void FoundEvent(object sender, NetworkWatcherEventArgs e)
        {
            try
            {
                string ip = e.Controller.IPAddress.ToString();
                common.log.OutInfo("Find IP=" + ip);
                int idx = Array.FindIndex(common.ABB_Info, s => s.IP == ip);
                if (idx == -1) return;

                _client[idx].Ctl = ControllerFactory.CreateFrom(e.Controller);
                _client[idx].Ctl.Logon(UserInfo.DefaultUser);
                //_client[idx].IP = common.ABB_Info[idx].IP;

                common.ABB_Info[idx].GetStart = false;
                common.ABB_Info[idx].GetEnd = true;
                common.ABB_Info[idx].PutStart = false;
                common.ABB_Info[idx].PutIn = false;
                common.ABB_Info[idx].PutEnd = true;
                common.ABB_Info[idx].State = _client[idx].Ctl.State.ToString();

                common.log.OutInfo(common.ABB_Info[idx].Name + " State=" + _client[idx].Ctl.State.ToString());
            }
            catch (Exception ex)
            {
                common.log.OutError(ex);
            }
        }

        private void LostEvent(object sender, NetworkWatcherEventArgs e)
        {

        }




        private class Client
        {
            /// <summary>
            /// 客户端IP地址
            /// </summary>
            //public string IP;
            /// <summary>
            /// Socket TCP
            /// </summary>
            public Socket Socket;
            /// <summary>
            /// 接收事件
            /// </summary>
            public Thread Receive;
            /// <summary>
            /// 控制器
            /// </summary>
            public Controller Ctl;
            public bool Loop;
            /// <summary>
            /// 是否连接服务器
            /// </summary>
            public bool IsConn;

            public Client()
            {
                //IP = "";
                Loop = false;
                IsConn = false;
            }
        }
    }


}