using System;
using System.Collections.Generic;
using System.Linq;
using System.Web.Script.Serialization;
using Common;
using Microsoft.SqlServer.Server;
using RestSharp;

namespace DeviceLibrary
{
    public class MiR_API
    {
        private const int httpTimeout = 5000;
        private static log4net.ILog log = log4net.LogManager.GetLogger("MiR_API");
        public static bool IsDebug { get; set; } = false;
        /// <summary>
        /// 获取IO模块guid列表
        /// </summary>
        /// <param name="info"></param>
        /// <param name="guid"></param>
        /// <returns></returns>
        public static bool Get_IO_Modules(Agv_Info info, out string[] guid)
        {
            try
            {
                guid = null;
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";

                string json = HttpGet(url, info.IP, info.Authorization);
                if (string.IsNullOrWhiteSpace(json)) return false;
                JavaScriptSerializer serializer = new JavaScriptSerializer();
                object[] obj = (object[])serializer.DeserializeObject(json);
                if (obj == null)
                {
                    log.Error("URL: " + url + "\n" + "Return: " + json);
                    return false;
                }
                guid = new string[obj.Length];

                for (int i = 0; i < obj.Length; i++)
                {
                    Dictionary<string, object> dic = (Dictionary<string, object>)obj[i];
                    guid[i] = dic["guid"].ToString();
                }
                log.Info("URL: " + url + "\n" + "Return: " + json);
                return true;
            }
            catch (Exception ex)
            {
                guid = null;
                log.Error("Get_IO_Modules", ex);
                return false;
            }

        }

        /// <summary>
        /// 获取IO模块的状态
        /// </summary>
        /// <param name="info"></param>
        /// <param name="input"></param>
        /// <param name="output"></param>
        /// <returns></returns>
        public static bool Get_IO_Status(Agv_Info info, out bool[] input, out bool[] output)
        {
            try
            {
                input = null;
                output = null;
                string url = "http://" + info.IP + "/api/v2.0.0/io_modules/" + info.IOID + "/status";

                string json = HttpGet(url, info.IP, info.Authorization);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null)
                {
                    log.Error("URL: " + url + "\n" + "Return: " + json);
                    return false;
                }
                object[] objInput = (object[])dic["input_state"];
                input = new bool[objInput.Length];
                for (int i = 0; i < input.Length; i++)
                    input[i] = Convert.ToBoolean(objInput[i]);

                object[] objOutput = (object[])dic["output_state"];
                output = new bool[objOutput.Length];
                for (int i = 0; i < output.Length; i++)
                    output[i] = Convert.ToBoolean(objOutput[i]);

                return true;
            }
            catch (Exception ex)
            {
                input = null;
                output = null;
                //log.Error("Get_IO_Status", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取PLC寄存器的内容
        /// </summary>
        /// <param name="info"></param>
        /// <param name="reg"></param>
        /// <param name="regValue"></param>
        /// <returns></returns>
        public static bool Get_Register(Agv_Info info, int reg, out int regValue)
        {
            try
            {
                regValue = -1;
                string url = "http://" + info.IP + "/api/v2.0.0/registers/" + reg + "?whitelist=value";
                string json = HttpGet(url, info.IP, info.Authorization);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null)
                {
                    log.Error("URL: " + url + "\n" + "Return: " + json);
                    return false;
                }


                string s = dic["value"].ToString();
                float f = Convert.ToSingle(s);
                regValue = Convert.ToInt32(f);
                return true;
            }
            catch (Exception ex)
            {
                regValue = -1;
                log.Error("Get_Register", ex);
                return false;
            }
        }

        /// <summary>
        /// 设置PLC寄存器的内容
        /// </summary>
        /// <param name="info"></param>
        /// <param name="reg"></param>
        /// <param name="regValue"></param>
        /// <returns></returns>
        public static bool Set_Register(Agv_Info info, int reg, int regValue)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/registers/" + reg;
                string body = "{\"value\": " + regValue + "}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null)
                {
                    log.Error("URL: " + url + "\n" + "Return: " + json);
                    return false;
                }


                string s = dic["value"].ToString();
                float f = Convert.ToSingle(s);
                if (regValue == Convert.ToInt32(f))
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                log.Error("Set_Register", ex);
                return false;
            }
        }

        /// <summary>
        /// 添加任务到任务队列
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission_id"></param>
        /// <returns></returns>
        public static bool Add_Mission(Agv_Info info, string mission_id, bool isRemovePreMission = true)
        {
            try
            {
                info.CurTaskID = -1;
                info.CurTaskGUID = "";
                info.CurTaskState = SettingString.Wait;
                var key = CommonVar.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
                info.CurTaskName = key.ToList()[0];
                //删除上一任务
                Del_Mission(info);

                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
                string body = "{\"mission_id\":\"" + mission_id + "\"}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null)
                {
                    return false;
                }
                log.Info("URL: " + url + "\n" + "Return: " + json);

                string s = dic["mission_id"].ToString();
                string id = dic["id"].ToString();
                if (s == mission_id)
                {
                    try
                    {
                        info.CurTaskID = Convert.ToInt32(id);
                        info.CurTaskGUID = mission_id;

                        log.Info(string.Format("{0} Add_Mission [{1}]", info.Name, key.ToList()[0]));
                    }
                    catch
                    {
                        log.Error(string.Format("{0} Add_Mission [{1}]", info.Name, mission_id));
                    }

                    return true;
                }
                else
                    return false;
            }
            catch (Exception ex)
            {
                log.Error("Add_Mission", ex);
                return false;
            }
        }

        /// <summary>
        /// 添加任务到FLEET任务队列
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission_id"></param>
        /// <returns></returns>
        public static bool Add_Mission_Fleet(Agv_Info info, string mission_id, bool isRemovePreMission = true)
        {
            try
            {

                info.CurTaskID = -1;
                info.CurTaskGUID = "";
                info.CurTaskState = SettingString.Wait;
                var key = CommonVar.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
                info.CurTaskName = key.ToList()[0];
                //防止上一个任务已执行但返回失败时，删除任务
                Del_Mission(info);

                string ip = AppConfigHelper.GetValue(SettingString.FLEET);
                string url = "http://" + ip + "/api/v2.0.0/mission_scheduler";
                string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.Fleet_IP + "}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null)
                {
                    return false;
                }

                log.Info("URL: " + url + "\n" + "Return: " + json);
                string s = dic["mission_id"].ToString();
                string id = dic["id"].ToString();
                if (s == mission_id)
                {
                    try
                    {
                        info.CurTaskID = Convert.ToInt32(id);
                        info.CurTaskGUID = mission_id;
                        log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
                    }
                    catch
                    {
                        log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
                        info.CurTaskName = "";
                    }
                    return true;
                }
                else
                    return false;
            }
            catch (Exception ex)
            {
                log.Error("Add_Mission_Fleet", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取所有任务列表
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission">任务（名称，guid）</param>
        /// <returns></returns>
        public static bool Get_Mission(Agv_Info info, out Dictionary<string, string> mission)
        {
            mission = null;
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/missions/search?whitelist=guid,name";
                string body = "{\"filters\" :[]}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                object[] obj = (object[])serializer.DeserializeObject(json);
                if (obj == null) return false;
                mission = new Dictionary<string, string>();

                for (int i = 0; i < obj.Length; i++)
                {
                    Dictionary<string, object> dic = (Dictionary<string, object>)obj[i];
                    mission.Add(dic["name"].ToString(), dic["guid"].ToString());
                }
                return true;
            }
            catch (Exception ex)
            {
                log.Error("Get_Mission", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取当前任务队列guid
        /// </summary>
        /// <param name="info"></param>
        /// <param name="mission"></param>
        /// <returns></returns>
        public static bool Get_Mission_Queue(Agv_Info info, out List<string> mission)
        {
            mission = null;
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue/search";
                string body = "{\"filters\" : [{\"fieldname\": \"state\", \"operator\": \"IN\", \"value\": [\"Pending\", \"Executing\"]}]}";
                string json = HttpPost(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                object[] obj = (object[])serializer.DeserializeObject(json);
                if (obj == null) return false;

                mission = new List<string>();
                Dictionary<string, object> dic;
                for (int i = 0; i < obj.Length; i++)
                {
                    dic = (Dictionary<string, object>)obj[i];
                    mission.Add(dic["id"].ToString());
                }

                for (int i = 0; i < mission.Count; i++)
                {
                    url = "http://" + info.IP + "/api/v2.0.0/mission_queue/" + mission[i];
                    json = HttpGet(url, info.IP, info.Authorization);
                    serializer = new JavaScriptSerializer();
                    dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                    mission[i] = dic["mission_id"].ToString();
                }

                return true;
            }
            catch (Exception ex)
            {
                log.Error("Get_Mission_Queue", ex);
                return false;
            }
        }

        /// <summary>
        /// 删除当前所有任务
        /// </summary>
        /// <param name="info"></param>
        public static void Del_Mission(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
                HttpDel(url, info.IP, info.Authorization);
            }
            catch (Exception ex)
            {
                log.Error("Del_Mission", ex);
            }
        }

        /// <summary>
        /// 删除Fleet尽快中指定id的任务，已运行的无法删除
        /// </summary>
        /// <param name="authorization"></param>
        /// <param name="id"></param>
        public static void Del_Mission_Fleet(Agv_Info agv, string id)
        {
            try
            {
                string ip = AppConfigHelper.GetValue(SettingString.FLEET);
                string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/" + id;
                HttpDel(url, ip, agv.Authorization);
            }
            catch (Exception ex)
            {
                log.Error(ex);
            }
        }
        /// <summary>
        /// 获取当前小车状态
        /// </summary>
        /// <param name="info"></param>
        /// <param name="stateID"></param>
        /// <param name="stateText"></param>
        /// <param name="battery"></param>
        /// <param name="mission_text"></param>
        /// <returns></returns>
        public static bool Get_State(Agv_Info info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.AgvPosition position)
        {
            stateID = eAGVState.UNKNOWN;
            stateText = "";
            battery = 0;
            mission_text = "";
            position = new Agv_Info.AgvPosition();
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position";
                string json = HttpGet(url, info.IP, info.Authorization);
                if (string.IsNullOrWhiteSpace(json)) return false;
                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null) return false;

                //state_id不存在：{"args":{},"error_code":"service_unavailable","error_human":"\u670d\u52a1\u4e0d\u53ef\u7528\uff0c\u8bf7\u7a0d\u540e\u91cd\u8bd5"}
                try
                {
                    stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString()));
                }
                catch
                {
                    log.Error("Get_State URL:" + url + " Return" + json);
                    return false;
                }
                stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString()));
                stateText = dic["state_text"].ToString();
                mission_text = dic["mission_text"].ToString();
                string s = dic["battery_percentage"].ToString();
                float f = Convert.ToSingle(s);
                battery = Convert.ToInt32(f);
                Dictionary<string, object> posDic = (Dictionary<string, object>)dic["position"];
                if (posDic == null) return false;
                position.orientation = Convert.ToDouble(posDic["orientation"].ToString());
                position.x = Convert.ToDouble(posDic["x"]);
                position.y = Convert.ToDouble(posDic["y"]);
                return true;
            }
            catch (Exception ex)
            {
                log.Error("Get_State: ", ex);
                return false;
            }
        }

        /// <summary>
        /// 获取小车位置
        /// </summary>
        /// <param name="ip">小车ip</param>
        /// <param name="author">授权码</param>
        /// <param name="position">输出位置</param>
        /// <returns></returns>
        public static bool Get_Position(string ip,string author, out Agv_Info.AgvPosition position)
        {
            position = new Agv_Info.AgvPosition();
            try
            {
                string url = "http://" + ip + "/api/v2.0.0/status?whitelist=position";
                string json = HttpGet(url, ip,author);
                if (string.IsNullOrWhiteSpace(json)) return false;
                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null) return false;

                Dictionary<string, object> posDic = (Dictionary<string, object>)dic["position"];
                if (posDic == null) return false;
                position.orientation = Convert.ToDouble(posDic["orientation"].ToString());
                position.x = Convert.ToDouble(posDic["x"]);
                position.y = Convert.ToDouble(posDic["y"]);
                return true;
            }
            catch (Exception ex)
            {
                log.Error("Get_Position: ", ex);
                return false;
            }
        }

        public static bool Get_Task_State(Agv_Info agv, out string stateStr)
        {
            stateStr = SettingString.Wait;
            try
            {
                if (agv.CurTaskID == -1)
                    return true;

                if(agv.Use_Fleet)
                {
                    string ip = AppConfigHelper.GetValue(SettingString.FLEET);
                    string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/" + agv.CurTaskID;
                    string json = HttpGet(url, ip, CommonVar.agvInfo[0].Authorization);
                    log.Debug("URL: " + url + "\n" + "Return: " + json);
                    if (string.IsNullOrWhiteSpace(json)) return false;

                    JavaScriptSerializer serializer = new JavaScriptSerializer();
                    Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                    if (dic == null) return false;
                    //    "mission_id": "2e433130-c045-11ea-9a66-94c691a7387d",
                    //    "id": 7178,
                    //    "state": "Done"

                    string s = dic["id"].ToString();
                    if (s.Equals(agv.CurTaskID.ToString()))
                    {
                        stateStr = dic["state"].ToString();
                        return true;
                    }
                }
                else
                {
                    string url = "http://"+agv.IP+"/api/v2.0.0/mission_queue/" + agv.CurTaskID;
                    string json = HttpGet(url, agv.IP, agv.Authorization);
                    log.Debug("URL: " + url + "\n" + "Return: " + json);
                    if (string.IsNullOrWhiteSpace(json)) return false;

                    JavaScriptSerializer serializer = new JavaScriptSerializer();
                    Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                    if (dic == null) return false;
                    //    "mission_id": "2e433130-c045-11ea-9a66-94c691a7387d",
                    //    "id": 7178,
                    //    "state": "Done"

                    string s = dic["id"].ToString();
                    if (s.Equals(agv.CurTaskID.ToString()))
                    {
                        stateStr = dic["state"].ToString();
                        return true;
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                log.Error("Get_Task_State", ex);
                return false;
            }

        }

        /// <summary>
        /// 小车状态改为Ready
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public static bool State_Ready(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";
                string body = "{\"state_id\": 3}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null) return false;

                string s = dic["state_id"].ToString();
                if (s == "3")
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                log.Error("State_Ready", ex);
                return false;
            }
        }

        /// <summary>
        /// 小车状态改为Pause
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public static bool State_Pause(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text";
                string body = "{\"state_id\": 4}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                JavaScriptSerializer serializer = new JavaScriptSerializer();
                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                if (dic == null) return false;

                string s = dic["state_id"].ToString();
                if (s == "4")
                    return true;
                else
                    return false;
            }
            catch (Exception ex)
            {
                log.Error("State_Pause", ex);
                return false;
            }
        }

        /// <summary>
        /// 清除错误
        /// </summary>
        /// <param name="info"></param>
        /// <returns></returns>
        public static bool Clear_Error(Agv_Info info)
        {
            try
            {
                string url = "http://" + info.IP + "/api/v2.0.0/status";
                string body = "{\"clear_error\": true}";
                string json = HttpPut(url, info.IP, info.Authorization, body);
                if (string.IsNullOrWhiteSpace(json)) return false;

                return true;
            }
            catch (Exception ex)
            {
                log.Error("Clear_Error", ex);
                return false;
            }
        }

        /// <summary>
        /// 检查IP地址
        /// </summary>
        /// <param name="ip"></param>
        /// <returns></returns>
        public static bool CheckIP(string ip)
        {
            //IP合法
            string pattern = @"^((2[0-4]\d|25[0-5]|[01]?\d\d?)\.){3}(2[0-4]\d|25[0-5]|[01]?\d\d?)$";
            bool rtn = System.Text.RegularExpressions.Regex.IsMatch(ip, pattern);
            if (!rtn)
            {
                log.Error("非法的IP地址" + ip);
                return false;
            }

            //Ping服务端
            try
            {
                System.Net.NetworkInformation.Ping ping = new System.Net.NetworkInformation.Ping();
                System.Net.NetworkInformation.PingReply result = ping.Send(ip, 2000);
                ping.Dispose();
                if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
                {
                    log.Error("Ping " + ip + " 请求没有响应");
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                log.Error("CheckIP", ex);
                return false;
            }
        }


        #region HTTP GET POST PUT DEL
        private static string HttpGet(string url, string ip, string authorization)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.GET);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            if (IsDebug)
                log.Debug("HttpGet URL: " + url + " Return: " + s);
            return s;
        }

        private static string HttpPost(string url, string ip, string authorization, string body)
        {
            var client = new RestClient(url) { Timeout = httpTimeout };
            var request = new RestRequest(Method.POST);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            request.AddParameter("application/json", body, ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            if (IsDebug)
                log.Debug(string.Format("HttpPost URL: {0};  Body: {1}  Return: {2}", url, body, s));
            return s;
        }

        private static string HttpPut(string url, string ip, string authorization, string body)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.PUT);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddHeader("Authorization", authorization);
            request.AddParameter("application/json", body, ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);

            string s = response.Content;
            s = s.Replace("\n", "");
            s = s.Replace(" ", "");
            if (IsDebug)
                log.Debug(string.Format("HttpPut URL: {0};  Body: {1} Return: {2}", url, body, s));
            return s;
        }

        private static void HttpDel(string url, string ip, string authorization)
        {
            RestClient client = new RestClient(url) { Timeout = httpTimeout };
            RestRequest request = new RestRequest(Method.DELETE);

            request.AddHeader("Host", ip);
            request.AddHeader("Content-Type", "application/json");
            request.AddHeader("Authorization", authorization);
            request.AddHeader("Accept-Language", "zh_CN");
            request.AddParameter("application/json", "", ParameterType.RequestBody);
            IRestResponse response = client.Execute(request);
            string s = response.Content;
            if (IsDebug)
                log.Debug("HttpDel URL: " + url);
        }
        #endregion
    }
}