using DeviceLibrary;
using log4net;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace TheMachine
{
    public partial class uc_boxdebug : UserControl
    {
        private Robot_Config _Config;
        public Robot_Config Config
        {
            get { return _Config; }
            set
            {
                if (value == null)
                    return;
                _Config = value;
                storePosControl1.Config = _Config;
                Init();
            }
        }
        Dictionary<string,PosState> posState = new Dictionary<string, PosState>();
        //如果总配置文件存在，保存到总的配置文件
        static string appPath = Application.StartupPath;
        static string positionConfigFile = Path.Combine(appPath, "StoreConfig\\linePositions.csv");
        class PosState {
            public int InStoreCheck = 0;
            public int OutStoreCheck = 0;

        }
        public uc_boxdebug()
        {
            InitializeComponent();
        }

        public void Init()
        {
            FillBoxPos();
            timer1.Enabled = true;
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            return;
        }

        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            FillBoxPos();
        }

        private void Store_InOutEndProcessEvent(string arg1, StoreMoveType arg2, bool arg3)
        {
            //LogUtil.info($"出入库完成状态:{arg2},库位:{arg1}");
            int InStoreCheck = 0;
            int OutStoreCheck = 0;
            if (arg2 == StoreMoveType.InStore)
                InStoreCheck = 1;
            else if (arg2 == StoreMoveType.OutStore)
                OutStoreCheck = 1;
            var pps = SavePosCheck(arg1, InStoreCheck, OutStoreCheck);

            if (htpp.ContainsKey(arg1))
            {
                var pp = (PosPos)htpp[arg1];
                var cells = dataGridView1.Rows[pp.row].Cells[pp.col];
                cells.Style = GetStyle(arg1);
            }
            checkVerify();
        }
        DataGridViewCellStyle GetStyle(string posid) {
            if (htpp.ContainsKey(posid) && posState.ContainsKey(posid))
            {
                var pp = (PosPos)htpp[posid];
                var pps = (PosState)posState[posid];
                var cells = dataGridView1.Rows[pp.row].Cells[pp.col];
                cells.Selected = true;
                if (pps.InStoreCheck == 1 && pps.OutStoreCheck == 1)
                    return dgv_ok;
                else if (pps.InStoreCheck == 1)
                    return dgv_oin;
                else if (pps.OutStoreCheck == 1)
                    return dgv_oout;
            }
            return dgv_none;
        }
        void checkVerify()
        {
            int finish = 0;
            for (int i = 0; i < RobotManage.PositionNumList.Count; i++)
            {
                var posid = RobotManage.PositionNumList[i];
                if (htpp.ContainsKey(posid) && posState.ContainsKey(posid))
                {
                    var pps = (PosState)posState[posid];
                    if (pps.InStoreCheck == 1 && pps.OutStoreCheck == 1)
                    {
                        finish++;
                    }
                }
            }
            double s = (double)finish * 100 / RobotManage.PositionNumList.Count;
            label_verify.Text = s.ToString("0.0") + "%";
        }
        Hashtable htpp = new Hashtable();
        class PosPos {
            public string Posid;
            public int index;
            public int row;
            public int col;
        }
        int PosCompare(string a, string b) {
            if (a.StartsWith("fix"))
                return -1;
            if (b.StartsWith("fix"))
                return 1;
            

            string[] pa = a.Split('_');
            string[] pb = b.Split('_');

            if (int.TryParse(pa[1], out _))
                pa[1] += "A";
            if (int.TryParse(pb[1], out _))
                pb[1] += "A";

            var pa1 = pa[1][0] + (pa[1][1].Equals('A') ? "1" : "2");
            var pb1 = pb[1][0] + (pb[1][1].Equals('A') ? "1" : "2");

            var pa2 = pa[2];
            var pb2 = pb[2];
            if (pa[2].Length == 2)
            {
                if (pa[2][1].Equals('A') || pa[2][1].Equals('B'))
                {
                    pa2 = (pa[2][1].Equals('A') ? "1" : "2") + pa[2][0];
                }
                else if (pa[2][1].Equals('1') || pa[2][1].Equals('2'))
                {
                    pa2 = (pa[2][1].Equals('1') ? "1" : "2") + pa[2][0];
                }
            }

            if (pb[2].Length == 2)
            {
                if ((pb[2][1].Equals('A') || pb[2][1].Equals('B')))
                {
                    pb2 = (pb[2][1].Equals('A') ? "1" : "2") + pb[2][0];
                }
                else if ((pb[2][1].Equals('1') || pb[2][1].Equals('2')))
                {
                    pb2 = (pb[2][1].Equals('1') ? "1" : "2") + pb[2][0];
                }
            }

            var isa = Regex.Replace(pa[1], @"[^\d]*", "") + pa1 + pa2 + pa[3].PadLeft(2, '0');
            var isb = Regex.Replace(pb[1], @"[^\d]*", "") + pb1 + pb2 + pb[3].PadLeft(2, '0');

            if (int.Parse(isa) == int.Parse(isb))
                return 0;
            else if (int.Parse(isa) > int.Parse(isb))
                return 1;
            else
                return -1;
        }
        void LoadPosCheck() {
            var poscheckfile = positionConfigFile + ".check";
            if (File.Exists(poscheckfile))
            {
                try
                {
                    posState = JsonHelper.DeserializeJsonToObject<Dictionary<string, PosState>>(File.ReadAllText(poscheckfile));
                    File.Copy(poscheckfile, poscheckfile + ".backup", true);
                }
                catch {
                    if (File.Exists(poscheckfile + ".backup"))
                    {
                        File.Copy(poscheckfile + ".backup", poscheckfile, true);
                        File.Delete(poscheckfile + ".backup");
                        LoadPosCheck();
                    }
                }
            }
            else
            {
                File.WriteAllText(poscheckfile, JsonHelper.SerializeObject(posState));
            }
        }
        PosState SavePosCheck(string posid,int inStoreCheck,int outStoreCheck) {

            if (!posState.ContainsKey(posid))
                posState.Add(posid, new PosState());
            if (inStoreCheck>0)
                posState[posid].InStoreCheck = inStoreCheck;
            if (outStoreCheck > 0)
                posState[posid].OutStoreCheck = outStoreCheck;
            var poscheckfile = positionConfigFile + ".check";
            File.WriteAllText(poscheckfile, JsonHelper.SerializeObject(posState));
            return posState[posid];
        }
        static Font font = new Font("宋体",10);
        DataGridViewCellStyle dgv_ok = new DataGridViewCellStyle() { BackColor = Color.LightGreen, Font = font };
        DataGridViewCellStyle dgv_oin = new DataGridViewCellStyle() { BackColor = Color.LightGray, Font = font };
        DataGridViewCellStyle dgv_oout = new DataGridViewCellStyle() { BackColor = Color.LightSeaGreen, Font = font };
        DataGridViewCellStyle dgv_none = new DataGridViewCellStyle() { BackColor = Color.White,Font= font };
        void FillBoxPos()
        {
            htpp.Clear();
            dataGridView1.Columns.Clear();
            dataGridView1.Rows.Clear();
            LoadPosCheck();

            int colcount = 9;

            for (int i = 0; i < colcount; i++)
            {
                dataGridView1.Columns.Add("Col" + i, "Col" + i);
            }
            for (int i = 0; i < dataGridView1.Columns.Count; i++)
            {
                dataGridView1.Columns[i].AutoSizeMode = DataGridViewAutoSizeColumnMode.AllCells;
                dataGridView1.Columns[i].SortMode = DataGridViewColumnSortMode.NotSortable;
            }
            dataGridView1.Rows.Add();
            int currentRowIndex = 0;
            int currentColIndex = -1;
            string lastAB = "";
            for (int i = 0; i < RobotManage.PositionNumList.Count; i++)
            {
                string posname = RobotManage.PositionNumList[i];
                string memo = "";
                if (RobotManage.allPositionMap.ContainsKey(posname))
                {
                    memo = RobotManage.allPositionMap[posname].memo;
                }
                
                string ab = memo.Substring(0, 2);

                if (posname.StartsWith("LabelP") || posname.StartsWith("RFIDP"))
                {
                    ab = "aa";
                }

                var showname = posname;
                if (ab != lastAB)
                {
                    currentRowIndex = 0;
                    currentColIndex++;
                    lastAB = ab;
                    //if (posname.StartsWith("L"))
                    //{
                    //    dataGridView1.Columns[currentColIndex].HeaderText = "(" + posname.Substring(0, 2) + "";
                    //}
                    //else
                    {
                        dataGridView1.Columns[currentColIndex].HeaderText = crc.GetString("Res0031","取放料点");

                    }
                }
                //if (!posname.StartsWith("L"))
                {

                    if (memo.IndexOf("_") >= 0)
                    {
                        var id = memo.IndexOf("_");
                        var m = memo.Substring(0,id);
                        var m2 = memo.Substring(id, memo.Length-id);
                        showname = posname + "(" + crc.GetString(m, m)+ m2 + ")";
                    }
                    else
                        showname = posname + "(" + crc.GetString(memo, memo) + ")";
                }

                var currentRow = dataGridView1.Rows[currentRowIndex];


                currentRow.Cells[currentColIndex].Value = showname;
                currentRow.Cells[currentColIndex].Tag = posname;
                htpp.Add(posname, new PosPos() { Posid = posname, index = i, row = currentRowIndex, col = currentColIndex });
                currentRow.Cells[currentColIndex].Style = GetStyle(posname);

                currentRowIndex++;
                if (currentRowIndex >= dataGridView1.Rows.Count)
                    dataGridView1.Rows.Add();
            }
            for (int i = 0; i < dataGridView1.Columns.Count; i++)
            {
                if (dataGridView1.Rows[0].Cells[i].Value == null)
                {
                    dataGridView1.Columns[i].Width = 0;
                }
            }
            if (dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 1].Value != null)
            {
                dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 1].Selected = true;
            }
            else if (dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 2].Value != null)
            {
                dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 2].Selected = true;
            }
            dataGridView1.Rows.RemoveAt(dataGridView1.Rows.Count - 1);
            if (dataGridView1.SelectedCells.Count > 0)
                setData(dataGridView1.SelectedCells[0].Tag.ToString());
            else
                setData(RobotManage.allPositionMap.Keys.ToList().Last());
            checkVerify();

        }
        void setData(string posid) {
            ACStorePosition ktkPosition=null;
            cmbPosition.Text = posid;
            if (RobotManage.allPositionMap.ContainsKey(posid))
            {
                ktkPosition = RobotManage.allPositionMap[posid];
                storePosControl1.LoadPos(ktkPosition);
            }
            
        }

        private void btnInStore_Click(object sender, EventArgs e)
        {            

            if (RobotManage.mainMachine.runStatus == RunStatus.Running)
            {
                string selectPositionNum = cmbPosition.Text;
                ACStorePosition ktkPosition = CSVPositionReader<ACStorePosition>.GetPositon(selectPositionNum);

                LogUtil.info($"手动入库:{selectPositionNum}");
            }
            else
            {
                MessageBox.Show(crc.GetString("Res0032","请先启动料仓！"));
            }
        }

        private void btnOutStore_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.runStatus == RunStatus.Running)
            {
                string selectPositionNum = cmbPosition.Text;
                ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(selectPositionNum);
               
            }
            else
            {
                MessageBox.Show(crc.GetString("Res0032","请先启动料仓！"));
            }
        }

        bool preOpen = false;
        public void StoreOpenStatus(bool isOpen)
        {
            if (preOpen.Equals(isOpen))
            {
                return;
            }
            preOpen = isOpen;

            btnOutStore.Enabled = isOpen;
            btnInStore.Enabled = isOpen;

        }
        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!Visible)
                return;

            if (!cb_inoutdebugmode.Checked)
                return;

        }
        private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex<0 || dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag == null)
                return;
            var posid = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag.ToString();
            setData(posid);
        }
        private void dataGridView1_CellMouseDown(object sender, DataGridViewCellMouseEventArgs e)
        {
            if (e.RowIndex < 0 || dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag == null)
                return;
            var posid = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag.ToString();
            setData(posid);
        }

        private void cb_inoutdebugmode_CheckedChanged(object sender, EventArgs e)
        {
            RobotManage.InoutDebugMode = cb_inoutdebugmode.Checked;
            if (!cb_inoutdebugmode.Checked)
            {
                RobotManage.mainMachine.AutoInOutTest = false;
                //RobotManage.mainMachine.StopAutoInOut = false;
            }
            btnInStore.Enabled= cb_inoutdebugmode.Checked;
            btnOutStore.Enabled= cb_inoutdebugmode.Checked;
            btn_autoinout.Enabled= cb_inoutdebugmode.Checked;
        }

        private void cb_disableupdownprotect_CheckedChanged(object sender, EventArgs e)
        {
            //RobotManage.DisableUpdownProtect = cb_disableupdownprotect.Checked;
            //LogUtil.info("手动点击屏蔽升降轴旋转轴安全检测:"+ cb_disableupdownprotect.Checked.ToString());
        }

        private void btn_autoinout_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.AutoInOutTest)
            {
                RobotManage.mainMachine.StopAutoInOutTest();
                MessageBox.Show(crc.GetString("Res0033","自动出入库过程会再料盘送至出口后自动停止."));
                return;
            }

            if (RobotManage.mainMachine.runStatus == RunStatus.Running)
            {

                if (!RobotManage.mainMachine.IsInStoreReady)
                {
                    MessageBox.Show(crc.GetString("Res0034","入库料盘没有准备好,请先点击[上料准备],无法启动"));
                    return;
                }

                DialogResult res = MessageBox.Show(crc.GetString("Res0035","确定开始自动库位测试？\n请确保料仓库位全部为空."), crc.GetString("Res0036","提示"), MessageBoxButtons.YesNo);
                if (res == DialogResult.No)
                    return;
               int posindex = RobotManage.StorePositionNumList.IndexOf(cmbPosition.Text);
                if (posindex < 0)
                {
                    MessageBox.Show(crc.GetString("Res0037","非库位无法使用自动测试"), crc.GetString("Res0036","提示"));
                    return;
                }
                LogUtil.info($"库位:{cmbPosition.Text},index:{posindex}");
                if (!RobotManage.mainMachine.StartAutoInOutTest(posindex, out string errmsg))
                {
                    MessageBox.Show(errmsg);
                    return;
                }
                (sender as Button).Text = crc.GetString("Res0038","停止自动库位测试！");
            }
            else
            {
                MessageBox.Show(crc.GetString("Res0032","请先启动料仓！"));
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            RobotManage.mainMachine.Z_Axis.AbsMove(null, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
            LogUtil.info("手动点击Z轴回P1");
        }
    }
}