using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace DeviceLibrary
{
    public static class RobotManage
    {
        public static MainMachine mainMachine;
        public static Robot_Config Config;
        //public static StoreType StoreType = ConfigHelper.Config.Get<StoreType>("StoreType",StoreType.TypeA);
        public static bool IsLoadOk = true;
        public static bool IsConfigMode = false;
        public static bool InoutDebugMode = false;
        public static bool DisableUpdownProtect
        {
            get => Setting_Init.Device_DisableUpdownProtect;
        }
        public static bool DisableSingleDoor
        {
            get => Setting_Init.Device_DisableSingleDoor;
        }
        public delegate void LoadFinish(bool state, string msg);
        public static event LoadFinish LoadFinishEvent;

        public static event EventHandler<bool> UserPauseSet;
        /// <summary>
        /// 系统是否运行的标志
        /// </summary>
        public static bool isRunning = false;
        public static Dictionary<string, ACStorePosition> allPositionMap { get => CSVPositionReader<ACStorePosition>.allPositionMap; }

        static List<string> _positionNumList = null;
        public static List<string> PositionNumList
        {
            get
            {
                if (_positionNumList == null)
                    _positionNumList = CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList();
                return _positionNumList;
            }
        }
        static string baseDir = Application.StartupPath;
        static Thread mainThread;
        public static bool haveFixpos = false;


        public static HIKCamera CameraA = new HIKCamera();
        public static void Init(params object[] param)
        {
            string msg = "";
            try
            {
                mainMachine = null;
                string configFile = Path.Combine(baseDir, "config\\Config.csv");
                Config = new Robot_Config(0, "", configFile);
                Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);

                string positionConfigFile = Path.Combine(baseDir, "StoreConfig\\linePositions.csv");

                if (File.Exists(positionConfigFile))
                {
                    LogUtil.info("加载位置文件：" + positionConfigFile);
                    CSVPositionReader<ACStorePosition>.AddCSVFile(positionConfigFile);
                }
                else
                {
                    IsLoadOk = false;
                    msg += crc.GetString(L.cant_find_storeposfile, "找不到库位配置文件") + "\n";
                }
                string fixpositionConfigFile = Path.Combine(baseDir, "StoreConfig\\fixPositions.csv");
                if (File.Exists(fixpositionConfigFile))
                {
                    haveFixpos = true;
                    LogUtil.info("加载校准库位文件：" + fixpositionConfigFile);
                    CSVPositionReader<ACStorePosition>.AddCSVFile(fixpositionConfigFile);
                }

                CodeManager.LoadConfig();
                mainMachine = new MainMachine(RobotManage.Config);
                //Thread.Sleep(5000);
                if (!IOManager.ConnectionIOList(new List<string>()))
                {
                    IsLoadOk = false;
                    msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败") + "\n";
                }
                // IOManager.CloseAllConnection();
                //if (!CameraA.LoadCameraConfig(out string errmsg, param[0]))
                //{
                //    IsLoadOk = false;
                //    msg += errmsg + "\r\n";
                //}
                if (!HumitureController.Init(Setting_Init.Device_Humiture_Port))
                {
                    IsLoadOk = false;
                    msg += crc.GetString(L.tempnhum_sensor_init_fail, $"温湿度传感器初始化失败,端口:") + $"{Setting_Init.Device_Humiture_Port}\n";
                }
                //Thread.Sleep(1000);
                //if (!IOManager.ConnectionIOList(new List<string>()))
                //{
                //    IsLoadOk = false;
                //    msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败") + "\n";
                //}
                IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
                IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);

            }
            catch (Exception ex)
            {
                LogUtil.error("Init ", ex);
                LoadFinishEvent?.Invoke(false, ex.Message);
                return;
            }
            LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
        }
        public static void LoadDebug()
        {
            LoadFinishEvent?.Invoke(true, crc.GetString(L.open_debug_mode, "打开调试模式"));
        }
        public static void Start()
        {

            if (!IsLoadOk)
            {
                LogUtil.info("系统还未加载完毕,无法启动");
                if (!IsConfigMode)
                    return;
            }
            lock (mainMachine)
            {
                if (isRunning)
                {
                    LogUtil.info("系统已经在运行");
                    return;
                }
                isRunning = true;
                UserPause($"isRunning = true", false);
                mainThread = new Thread(new ThreadStart(mainMachine.Start));
                mainThread.Start();
                CameraA.startCamera();
            }

            GC.KeepAlive(mainThread);
            Task.Run(() =>
            {
                Task.Delay(1000).Wait();
                if (mainMachine.DeviceCheck())
                    mainMachine.BeginHomeReset(true);
            });

        }

        public static void Stop()
        {
            LogUtil.info("开始停止系统.");
            mainMachine?.Stop();
        }
        public static void ShutDown()
        {
            LogUtil.info("开始关闭系统.");
            IOManager.CloseAllConnection();
            CameraA.stopCamera();
        }
        public static bool IsUserPause
        {
            get { return mainMachine.UserPause; }
        }
        /// <summary>
        /// 用户暂停
        /// </summary>
        /// <param name="msg"></param>
        /// <param name="userpause"></param>
        public static void UserPause(string msg = "", bool userpause = true)
        {
            UserPauseSet?.Invoke(null, userpause);
            if (userpause != mainMachine.UserPause)
            {
                if (userpause)
                {
                    if (string.IsNullOrEmpty(msg))
                        LogUtil.info("用户暂停");
                    else
                        LogUtil.info("系统暂停: " + msg);
                }
                else
                    LogUtil.info("用户取消暂停:" + msg);
            }
            mainMachine.UserPause = userpause;
        }
        public static void IgnoreSafecheck(bool s)
        {
            mainMachine.IgnoreSafecheck = s;
            if (s)
                LogUtil.info("用户设置忽略安全检查");
            else
                LogUtil.info("用户取消忽略安全检查");
        }
        public static void IgnoreGratingSignal(bool s)
        {
            mainMachine.IgnoreGratingSignal = s;
            if (s)
                LogUtil.info("用户设置忽略安全光栅");
            else
                LogUtil.info("用户取消忽略安全光栅");
        }
        #region 校准库位缓存
        public static bool HasReelInFixPos(out ReelParam reelParam)
        {
            reelParam = null;
            try
            {
                string fix = Setting_Init.FixBuffInfo;
                if (!string.IsNullOrEmpty(fix))
                {
                    reelParam = JsonHelper.DeserializeJsonToObject<ReelParam>(fix);
                    return true;
                }
            }
            catch (Exception e)
            {
                LogUtil.error("解析校准库位缓存异常", e);
            }
            return false;
        }
        public static void PutReelInFixPos(ReelParam reelParam)
        {
            if (mainMachine.AutoInOutTest) return;
            Setting_Init.FixBuffInfo = JsonHelper.SerializeObject(reelParam);
        }
        public static void ClearReelInFixPos()
        {
            Setting_Init.FixBuffInfo = "";
        }
        #endregion
    }

    public enum StoreType
    {
        TypeA, TypeB
    }
}