using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using Common;

namespace DeviceLibrary
{
    public class Agv_Info
    {
        /// <summary>
        /// 小车名称
        /// </summary>
        public string Name { private set; get; }
        /// <summary>
        /// 小车在FLEET中的ID号
        /// </summary>
        public string Fleet_IP { private set; get; }
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP { private set; get; }
        /// <summary>
        /// IO模块GUID
        /// </summary>
        public string IOID { private set; get; }
        /// <summary>
        /// 授权码
        /// </summary>
        public string Authorization { private set; get; }

        /// <summary>
        /// 当前架子的RFID
        /// </summary>
        public string RFID { set; get; }
        public int LeftTaskCnt { get; set; }
        /// <summary>
        /// 是否在线
        /// </summary>
        public bool IsCon
        {
            set
            {
                if (!value.Equals(isCon))
                {
                    isCon = value;
                    StateKanban.SetConnectState(isCon);
                }
            }
            get { return isCon; }
        }
        private bool isCon = false;
        /// <summary>
        /// 是否可用
        /// </summary>
        private bool _IsUse = true;

        /// <summary>
        /// 是否调用
        /// </summary>
        public bool IsUse
        {
            set
            {
                if (!value.Equals(_IsUse))
                {
                    _IsUse = value;
                    CommonVar.WriteIni(Name, SettingString.IsUse, _IsUse.ToString());
                }
            }
            get { return _IsUse; }
        }
        /// <summary>
        /// 地点
        /// </summary>
        public string Place { set; get; }
        /// <summary>
        /// 地点
        /// </summary>
        public string PlaceAliceName { set; get; } = "";

        /// <summary>
        /// 小车的状态ID，（从小车获取）
        /// </summary>
        public eAGVState StateID { private set; get; }

        /// <summary>
        /// 负载
        /// </summary>
        public bool IsExistShelf { set; get; } = false;

        /// <summary>
        /// 电量百分比，（从小车获取）
        /// </summary>
        public int Battery { private set; get; }
        /// <summary>
        /// 当前任务文本，（从小车获取）
        /// </summary>
        public string MissionText { set; get; } = "";


        public class AgvPosition
        {
            public double orientation { get; set; }
            public double x { get; set; }
            public double y { get; set; }

            public AgvPosition() { }
            public AgvPosition(double x, double y)
            {
                this.x = x;
                this.y = y;
            }
        }
        /// <summary>
        /// 当前位置
        /// </summary>
        public AgvPosition Position;

        /// <summary>
        /// 任务内容
        /// </summary>
        public string Msg
        {
            get;
            set;
        } = "";
        /// <summary>
        /// 当前任务
        /// </summary>
        public Job CurJob { get; set; }

        /// <summary>
        /// 当前AGV任务的ID号
        /// </summary>
        public long CurTaskID { get; set; } = -1;
        /// <summary>
        /// 任务时间戳
        /// </summary>
        public string TimeStamp { get; set; } = "";
        /// <summary>
        /// 正在分配任务
        /// </summary>
        public bool AllocatingTask = false;
        public string CurTaskState { get; set; } = "";
        /// <summary>
        /// 当前AGV任务名称
        /// </summary>
        public string CurTaskName { get; set; } = "";

        /// <summary>
        /// 当前SGV任务的GUID
        /// </summary>
        public string CurTaskGUID { get; set; }
        /// <summary>
        /// 错误消息
        /// </summary>
        public string ErrorMsg { get; set; } = "";
        public string ErrorLastTime { get; set; } = "";
        /// <summary>
        /// 任务期间是否有错误
        /// </summary>
        public bool HasError { get; set; } = false;
        /// <summary>
        /// 看板信息
        /// </summary>
        private DisplayBoard displayBoard;

        /// <summary>
        /// 任务重发
        /// </summary>
        public void Resend()
        {
            if (CurJob != null)
            {
                CurJob.ResendTask(this);
            }
        }

        /// <summary>
        /// 停在同一处超时
        /// </summary>
        private bool standTimeOut = false;
        /// <summary>
        /// 离线超时
        /// </summary>
        private bool offlineTimeOut = false;

        public AGV_UI.Status StateKanban;
        public bool Use_Fleet = AppConfigHelper.GetBoolValue(SettingString.Use_Fleet);
        public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid)
        {
            Fleet_IP = id;
            Name = name;
            IP = ip;
            Authorization = authorization;
            IOID = ioID;
            RFID = rfid;
            IsCon = false;
            _IsUse = isUse;
            Place = "";
            Msg = "";
            Position = new Agv_Info.AgvPosition();
            displayBoard = new DisplayBoard();
            RunInfos = new List<string>() { "状态", "目的地", "RFID", "负载", "运行模式", "任务信息", "AGV运行信息" };
            TaskQueue = new ConcurrentQueue<string>();
            StateKanban = new AGV_UI.Status(name, RunInfos);
        }
        public List<string> RunInfos;

        DateTime IoStartTime = DateTime.MaxValue;
        int IoLastTime = 5000;
        int StandLastTimeMinute = 5;
        int OfflineLastTimeSeconds = 30;
        DateTime standStartTime = DateTime.MaxValue;
        DateTime offlineStartTime = DateTime.MaxValue;
        DateTime agvErrorStartTime = DateTime.MaxValue;
        bool errorState = false;
        /// <summary>
        /// 设置状态
        /// </summary>
        /// <param name="stateID"></param>
        /// <param name="stateText"></param>
        /// <param name="battery"></param>
        /// <param name="missionText"></param>
        /// <param name="position"></param>
        /// <returns></returns>
        public bool SetState(eAGVState stateID, string stateText, int battery, string missionText, AgvPosition position)
        {
            bool isChange = false;
            bool preShelfState = IsExistShelf;
            MiR_API.Get_IO_Status(this, out bool[] input, out bool[] output);
            if (input != null && input.Length == 4)
            {
                bool reachIoValue = input[3].Equals(true);//input[2] &&
                if (reachIoValue)
                {
                    //满足给定的IO值，计算持续时间
                    if (IoStartTime == DateTime.MaxValue)
                    {
                        IoStartTime = DateTime.Now;
                    }


                    if (IoLastTime > 0)
                    {
                        //持续时间
                        TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
                        IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
                    }
                }
                else
                {
                    //重新计时
                    IoStartTime = DateTime.MinValue;
                    IsExistShelf = input[3];
                }
            }

            if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) || !Battery.Equals(battery)
                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                isChange = true;
            if (!StateID.Equals(stateID))
            {
                StateID = stateID;
                StateKanban.ShowInfo("状态", stateID.ToString());
            }

            if (!CurTaskState.Equals(stateText))
            {
                CurTaskState = stateText;
                StateKanban.SetCurState(stateText);

            }
            if (!Battery.Equals(battery))
            {
                Battery = battery;
                StateKanban.SetBattery(battery);
            }
            //"目的地", "RFID", "负载", "运行模式","任务信息", "AGV运行信息" 
            if (NodeManager.nodeInfo != null && NodeManager.nodeInfo.Count != 0)
            {
                ClientNode node = NodeManager.nodeInfo.Find(ss => ss.Name == Place);
                if (node != null)
                    PlaceAliceName = node.AliceName;
                else
                    PlaceAliceName = Place;
            }

            StateKanban.ShowInfo("目的地", PlaceAliceName);
            StateKanban.ShowInfo("RFID", RFID);
            if (!IsExistShelf.Equals(preShelfState))
            {
                StateKanban.ShowInfo("负载", IsExistShelf ? "满载" : "空载");
            }
            StateKanban.ShowInfo("运行模式", IsUse ? "自动" : "手动");
            StateKanban.ShowInfo("任务信息", Msg);

            if (!MissionText.Equals(missionText))
            {
                MissionText = missionText;
                StateKanban.ShowInfo("AGV运行信息", missionText);
            }
            CheckErrorState();
            CheckOfflineTimeOut();
            CheckStandTimeOut(position);
            UpdateDisplayBoard();
            return isChange;
        }
        /// <summary>
        /// 将信息添加到看板
        /// </summary>
        /// <param name="name">名字显示</param>
        /// <param name="key">关键字</param>
        /// <param name="value">值</param>
        /// <param name="type">上报类型，默认0是异常；1是正常</param>
        public void AddDisplayBoard(string name, string key, string value, int type = 0)
        {
            displayBoard.Add(name, "Agv." + Name + "." + key, value, type);
        }

        public void SetErrorMsg(string msg, string lastTime)
        {
            if (ErrorMsg.Equals(""))
            {
                ErrorMsg = msg;
                ErrorLastTime = lastTime;
                errStartTime = DateTime.Now;
            }
        }
        public void ClearErrorMsg()
        {
            ErrorLastTime = "";
            ErrorMsg = "";
        }
        public DateTime errStartTime=DateTime.Now;
        private void UpdateDisplayBoard()
        {
            bool isAlarm = false;
            try
            {
                int nodeIdx = NodeManager.FindNode(SettingString.D24_Out);
                if (nodeIdx > -1)
                    displayBoard.Add("退料线出口状态", "doubleLine.ReturnLine", NodeManager.nodeInfo[nodeIdx].GetState().ToString(), 1);
                if (offlineTimeOut)
                {
                    isAlarm = true;
                    SetErrorMsg("在" + PlaceAliceName + "离线", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
                    displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒");
                }
                else if (standTimeOut)
                {
                    isAlarm = true;
                    SetErrorMsg("在" + PlaceAliceName + "停留超时", (DateTime.Now - standStartTime).TotalMinutes.ToString("f2"));
                    displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - standStartTime).TotalMinutes.ToString("f2") + "分钟");
                }
                else if (errorState)//StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause)
                {
                    isAlarm = true;
                    SetErrorMsg("状态:" + StateID.ToString(), (DateTime.Now - agvErrorStartTime).TotalMinutes.ToString("f2"));
                    displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "状态:" + StateID.ToString());
                }
                else if (HasError)
                {
                    isAlarm = true;
                    displayBoard.Add(Name, "lineAgv." + Name + ".Msg", Msg);
                }

                if (!isAlarm)
                {
                    if(!ErrorMsg.Equals(""))//异常消除后正常，打印异常
                    {
                        CommonVar.ErrorLogRecord(new ErrorInfo(this));
                        ClearErrorMsg();
                    }
                    if (!Msg.Equals(""))
                    {
                        displayBoard.Add(Name, "lineAgv." + Name + ".Msg", Msg, 1);
                    }
                    else
                    {
                        if ((Place.Contains(SettingString.AutoCharge) || Place.Contains(SettingString.Standby)))
                        {
                            displayBoard.Add(Name, "lineAgv." + Name + ".Place", Place, 1);
                        }
                    }
                }

                displayBoard.UpdateAlarmMsg();
            }
            catch (Exception ex)
            {
                LogUtil.error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
            }
        }

        /// <summary>
        /// 检查小车是否离线超时
        /// </summary>
        /// <returns></returns>
        private void CheckOfflineTimeOut()
        {
            if (CurJob != null && !(CurJob is ChargeJob) && !IsCon)
            {
                //满足条件，计算持续时间
                if (offlineStartTime == DateTime.MaxValue)
                {
                    offlineStartTime = DateTime.Now;
                }
                TimeSpan lastTimeSpan = DateTime.Now - offlineStartTime;
                offlineTimeOut = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
            }
            else
            {
                offlineTimeOut = false;
                if ((DateTime.Now - offlineStartTime).TotalSeconds > OfflineLastTimeSeconds)
                    //LogUtil.error(string.Format("{0} 在{1}离线{2}秒", Name, PlaceAliceName, (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2")));
                    offlineStartTime = DateTime.Now;
            }
        }
        /// <summary>
        /// 检查小车是否报错
        /// </summary>
        /// <returns></returns>
        private void CheckErrorState()
        {

            if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
            {
                //满足条件，计算持续时间
                if (agvErrorStartTime == DateTime.MaxValue)
                {
                    agvErrorStartTime = DateTime.Now;
                }
                TimeSpan lastTimeSpan = DateTime.Now - agvErrorStartTime;
                errorState = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
            }
            else
            {
                errorState = false;
                if ((DateTime.Now - agvErrorStartTime).TotalSeconds > OfflineLastTimeSeconds)
                    agvErrorStartTime = DateTime.Now;
            }
        }
        /// <summary>
        /// 检查小车是否在原地停留超时
        /// </summary>
        /// <returns></returns>
        private void CheckStandTimeOut(AgvPosition position)
        {
            if (IsUse && CurJob != null && !(CurJob is ChargeJob) &&
                (!CurTaskName.Contains(SettingString.Standby)))//!CurTaskName.Contains(SettingString.AutoCharge) ||
            {
                if (Math.Abs(position.x - Position.x) < 1 && Math.Abs(position.y - Position.y) < 1)
                {
                    //满足条件，计算持续时间
                    if (standStartTime == DateTime.MaxValue)
                    {
                        standStartTime = DateTime.Now;
                    }
                    TimeSpan lastTimeSpan = DateTime.Now - standStartTime;
                    standTimeOut = (lastTimeSpan.TotalMinutes >= StandLastTimeMinute);
                }
                else
                {
                    //重新计时
                    standStartTime = DateTime.Now;
                    standTimeOut = false;

                }
            }
            else if (CurJob != null && (CurJob is ChargeJob))
            {
                standTimeOut = false;
                standStartTime = DateTime.Now;
            }
            else
            {
                standTimeOut = false;
                standStartTime = DateTime.Now;
            }
            Position = position;
        }
        /// <summary>
        /// 任务队列
        /// </summary>
        public ConcurrentQueue<string> TaskQueue;
        /// <summary>
        /// 给小车分配任务
        /// </summary>
        public bool AssignTask(string taskName)
        {
            bool rtn = false;
            DeleteAllTask();
            if (Use_Fleet)
            {
                rtn = MiR_API.Add_Mission_Fleet(this, CommonVar.agvMission[taskName]);
            }
            else
            {
                rtn = MiR_API.Add_Mission(this, CommonVar.agvMission[taskName]);
            }
            if (rtn)
            {
                LogUtil.info(string.Format("{0} 分配{1}任务完成", Name, taskName));
            }
            else
            {
                TaskQueue.Enqueue(taskName);
                LogUtil.info(string.Format("{0} 分配{1}任务失败", Name, taskName));
            }
            StateKanban.SetCurTask(CommonVar.showNameMissionName[taskName]+"\r\n"+CurTaskID);
            MiR_API.State_Ready(this);
            return rtn;
        }
        /// <summary>
        /// 删除当前小车所有任务/Fleet任务里的尽快任务
        /// </summary>
        /// <param name="id">删除fleet任务时用到,删除尽快里面的任务</param>
        public void DeleteAllTask(string id = "")
        {
            if (Use_Fleet)
            {
                //MiR_API.Del_Mission_Fleet(this, id);
                MiR_API.Del_Mission(this);
            }
            else
            {
                MiR_API.Del_Mission(this);
            }
        }
    }

    /// <summary>
    /// MIR 状态,与状态ID对应
    /// </summary>
    public enum eAGVState
    {
        None = 0,
        Starting,
        ShuttingDown,
        Ready,
        Pause,
        Executing,
        Aborted,
        Completed,
        Docked,
        Docking,
        EmergencyStop,
        ManualControl,
        Error,
        UNKNOWN
    }
}