using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Threading;

namespace Agv
{
    /// <summary>
    /// AGV客户端
    /// </summary>
    public class AgvClient
    {
        private bool _loopClient;
        private int _countRecon;
        private bool _loopRecon;
        private Socket _clientSocket;        //客户端
        private List<Node> _node;
        private List<Node> _nodeNoneState;
        private Thread tSend;          //发送
        private Thread tListen;        //监听网络
        private Thread tRecon;
        private string SERVER_IP;        //远程IP地址
        private int SERVER_PORT;    //端口
        /// <summary>
        /// 小车接收事件委托
        /// </summary>
        public delegate void ReceiveEvent(Node node);
        /// <summary>
        /// 服务器连接事件
        /// </summary>
        /// <param name="status"></param>
        public delegate void ConnectEvent(bool status);
        /// <summary>
        /// 小车接收事件
        /// </summary>
        public event ReceiveEvent Received;
        /// <summary>
        /// 服务器连接事件
        /// </summary>
        public event ConnectEvent Connected;

        /// <summary>
        /// 服务端信息
        /// </summary>
        public string ServerInfo
        {
            get
            {
                return string.Format("{0}:{1}", SERVER_IP, SERVER_PORT.ToString());
            }
        }
        /// <summary>
        ///  AGV客户端
        /// </summary>
        public AgvClient()
        {
            _node = new List<Node>();
            _nodeNoneState = new List<Node>();
        }

        /// <summary>
        /// 是否连接服务器
        /// </summary>
        public bool IsConn { private set; get; } = false;

        /// <summary>
        /// 发送命令的时间间隔，不能大于10s（单位：秒）
        /// </summary>
        public int SendSleep { set; get; } = 1;
        /// <summary>
        /// 禁用状态(true：发送None，false：正常发送)
        /// </summary>
        public bool CancelState { get; set; } = true;


        /// <summary>
        /// 连接
        /// </summary>
        public void Connect(string serverIP, int port = 12000)
        {
            SERVER_IP = serverIP;
            SERVER_PORT = port;
            _countRecon = 0;
            _loopRecon = true;
            IsConn = false;
            _loopClient = true;

            tListen = new Thread(new ThreadStart(ListenServerNet));
            tSend = new Thread(new ThreadStart(KeepSendStatus));
            tRecon = new Thread(new ThreadStart(Reconnect));
            tRecon.Start();
            //Open();
            tListen.Start();
            tSend.Start();
        }

        /// <summary>
        /// 关闭
        /// </summary>
        public void Close()
        {
            CancelState = true;
            _loopClient = false;
            _loopRecon = false;
            SendStatus();
            if (_clientSocket != null)
            {
                _clientSocket.Close();
                _clientSocket = null;
            }
        }

        /// <summary>
        /// 设置状态
        /// </summary>
        /// <param name="nodeName">节点名</param>
        /// <param name="mark">虚拟rfid</param>
        /// <param name="rfid">rfid</param>
        /// <param name="action">动作</param>
        /// <param name="level">等级</param>
        /// <param name="shelf">料架类型</param>
        /// <param name="type">客户端类型</param>
        public void SetStatus(string nodeName, string mark = "", string rfid = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, ClientShelf shelf = ClientShelf.None, ClientType type = ClientType.None)
        {
            int index = _node.FindIndex(s => s.Name == nodeName);
            if (index == -1)  //没有找到
            {
                Node node = new Node
                {
                    Name = nodeName,
                    RFID = rfid,
                    Action = action,
                    Level = level,
                    Shelf = shelf,
                    Type = type,
                    Mark = mark
                };
                _node.Add(node);
                _nodeNoneState.Add(new Node { Name=nodeName});
                log.info(string.Format("SetStatus To Server[{0}]:[{1}]", ServerInfo, node.ToText()));
            }
            else
            {
                _node[index].RFID = rfid;
                _node[index].Action = action;
                _node[index].Level = level;
                _node[index].Shelf = shelf;
                _node[index].Type = type;
                _node[index].Mark = mark;
                log.info(string.Format("SetStatus To Server[{0}]:[{1}]", ServerInfo, _node[index].ToText()));
            }
        }



        /// <summary>
        /// 重连线程
        /// </summary>
        private void Reconnect()
        {
            while (_loopRecon)
            {
                if (!IsConn)
                {
                    Open();
                    if (IsConn)
                    {
                        _countRecon = 0;
                        log.info(string.Format("连接到服务端[{0}]成功",ServerInfo));
                        Connected?.Invoke(IsConn);
                    }
                    else
                    {
                        log.warn("连接服务器失败" + ++_countRecon + "次");
                    }
                }
                Thread.Sleep(2000);
            }
        }

        /// <summary>
        /// 打开，连接到服务器
        /// </summary>
        private void Open()
        {
            try
            {
                if (CheckIP(SERVER_IP))
                {
                    _clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, 2000);
                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, 2000);
                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.NoDelay, 1);
                    _clientSocket.Connect(IPAddress.Parse(SERVER_IP), SERVER_PORT);
                    if (!_loopRecon) return;
                    IsConn = true;
                    Connected?.Invoke(IsConn);
                }
            }
            catch (Exception ex)
            {
                IsConn = false;
                log.error("Open Error", ex);
            }
        }

        /// <summary>
        /// 监听服务端发送的内容
        /// </summary>
        private void ListenServerNet()
        {
            int timeout = 100;
            while (true)
            {
                while (_loopClient)
                {
                    Thread.Sleep(timeout);
                    if (!IsConn) continue;
                    if (_clientSocket == null) continue;
                    if (!_loopClient) break;

                    try
                    {
                        // 定义一个缓存区；
                        byte[] arrMsgRec = new byte[1024];
                        // 将接收到的数据存入到输入  arrMsgRec中；
                        int length = -1;
                        if (_clientSocket!=null && _clientSocket.Poll(-1, SelectMode.SelectRead))
                        {
                            try
                            {
                                length = _clientSocket.Receive(arrMsgRec); // 接收数据，并返回数据的长度；
                                if (length == 0)//连接正常断开
                                {
                                    IsConn = false;
                                    Connected?.Invoke(IsConn);
                                    log.info(string.Format("服务端[{1}]断开与客户端的连接", _clientSocket.RemoteEndPoint.ToString(), ServerInfo));
                                    break;
                                }
                            }
                            catch (ObjectDisposedException ode)
                            {
                                IsConn = false;
                                Connected?.Invoke(IsConn);
                                log.info(string.Format("客户端已关闭"));
                            }
                        }

                        if (length > 0)
                        {
                            byte[] buff = new byte[length];
                            Array.Copy(arrMsgRec, 0, buff, 0, length);
                            StickyBagHandle(buff);
                        }
                    }
                    catch (SocketException se)
                    {
                        IsConn = false;
                        Connected?.Invoke(IsConn);
                        log.error(string.Format("客户端接收服务端[{0}]的消息出现异常", ServerInfo), se);
                    }
                    catch (Exception ex)
                    {
                        IsConn = false;
                        log.error("ListenNet Error", ex);
                        Connected?.Invoke(IsConn);
                    }
                }
            }
        }

        #region 粘包处理
        byte[] surplusBuffer = null;//不完整的数据包，即用户自定义缓冲区
        /// <summary>
        /// 粘包处理
        /// </summary>
        /// <param name="bytes"></param>
        private void StickyBagHandle(byte[] bytes)
        {
            //bytes 为系统缓冲区数据
            //bytesRead为系统缓冲区长度
            int bytesRead = bytes.Length;
            if (bytesRead > 0)
            {
                if (surplusBuffer !=null)
                {
                    byte[] curBuffer = surplusBuffer.Concat(bytes).ToArray();//拼接上一次剩余的包
                    //更新会话的最新字节
                    surplusBuffer = curBuffer;//同步
                }
                else
                {
                    if (Common.CheckHeadChar(bytes, out int startIdx))//检查是否存在指定包头识别字符
                    {
                        //添加会话ID的bytes
                        byte[] tmp = new byte[bytesRead - startIdx];
                        Buffer.BlockCopy(bytes, startIdx, tmp, 0, bytesRead - startIdx);
                        surplusBuffer = tmp;//同步
                    }
                    else
                        return;
                }

                //已经完成读取每个数据包长度
                int haveRead = 0;
                //这里totalLen的长度有可能大于缓冲区大小的(因为 这里的surplusBuffer 是系统缓冲区+不完整的数据包)
                int totalLen = surplusBuffer.Length;
                while (haveRead <= totalLen)
                {
                    //如果在N次拆解后剩余的数据包连一个包头的长度都不够
                    //说明是上次读取N个完整数据包后，剩下的最后一个非完整的数据包
                    if (totalLen - haveRead < Common.headSize)
                    {
                        byte[] byteSub = new byte[totalLen - haveRead];
                        //把剩下不够一个完整的数据包存起来
                        Buffer.BlockCopy(surplusBuffer, haveRead, byteSub, 0, totalLen - haveRead);
                        surplusBuffer = byteSub;

                        totalLen = 0;

                        break;

                    }

                    //如果够了一个完整包，则读取包头的数据
                    byte[] headByte = new byte[Common.headSize];
                    Buffer.BlockCopy(surplusBuffer, haveRead, headByte, 0, Common.headSize);//从缓冲区里读取包头的字节
                                                                                            //判断包头起始符
                    int bodySize = BitConverter.ToUInt16(headByte, 2);//从包头里面分析出包体的长度
                                                                      //这里的 haveRead=等于N个数据包的长度 从0开始；0,1,2,3....N

                    //如果自定义缓冲区拆解N个包后的长度 大于 总长度，说最后一段数据不够一个完整的包了，拆出来保存
                    if (haveRead + Common.headSize + bodySize > totalLen)
                    {
                        byte[] byteSub = new byte[totalLen - haveRead];
                        Buffer.BlockCopy(surplusBuffer, haveRead, byteSub, 0, totalLen - haveRead);
                        surplusBuffer = byteSub;
                        break;
                    }
                    else
                    {
                        //挨个分解每个包，解析成实际文字
                        //String strc = Encoding.UTF8.GetString(surplusBuffer, haveRead + headSize, bodySize);
                        byte[] resBytes = new byte[bodySize];
                        Buffer.BlockCopy(surplusBuffer, haveRead + Common.headSize, resBytes, 0, bodySize);
                        log.debug(string.Format("[Receive data from Server[{0}]: {1}", ServerInfo, Common.HexBuff(resBytes)));
                        DecodeNode(resBytes);
                        //依次累加当前的数据包的长度
                        haveRead = haveRead + Common.headSize + bodySize;
                        if (Common.headSize + bodySize == bytesRead)//如果当前接收的数据包长度正好等于缓冲区长度，则待拼接的不规则数据长度归0
                        {
                            surplusBuffer = null;//设置空 回到原始状态
                            totalLen = 0;//清0
                        }

                    }

                }

            }

        }
        #endregion
        private void DecodeNode(byte[] resultBytes)
        {
            Node node = Common.Decode(resultBytes);
            if (node == null)
            {
                log.error("命令解析失败");
            }
            else
            {
                log.info(string.Format("Received事件触发：{0}", node.ToText()));
                Received?.Invoke(node);
            }
        }
        /// <summary>
        /// 连续发送状态线程
        /// </summary>
        private void KeepSendStatus()
        {

            while (_loopClient)
            {
                Thread.Sleep(SendSleep * 1000);
                if (!IsConn) continue;
                if (_clientSocket == null) continue;
                SendStatus();

            }
        }

        private void SendStatus()
        {
            bool bln;
            if (Common.EnDecodeSingleNode)
            {
                for (int i = 0; i < _node.Count; i++)
                {
                    Thread.Sleep(100);
                    if (!CancelState)
                    {
                        byte[] buff = Common.Encode(_node[i]);
                        bln = Send(buff);
                    }
                    else
                    {
                        Node nostate = _node[i].ToCopy();
                        nostate.Action = ClientAction.None;
                        byte[] buff = Common.Encode(nostate);
                        bln = Send(buff);
                    }
                    if (!bln) continue;
                }
            }
            else
            {
                if (_node.Count == 0) return;
                if (!CancelState)
                {
                    byte[] buff = Common.Encode(_node);
                    bln = Send(buff);
                }
                else
                {
                    byte[] buff = Common.Encode(_nodeNoneState);
                    bln = Send(buff);
                }
            }
        }

        /// <summary>
        /// 发送命令
        /// </summary>
        /// <param name="buff"></param>
        /// <returns></returns>
        private bool Send(byte[] buff)
        {
            if (!IsConn)
            {
                log.info("Send 服务器没有连接");
                return false;
            }

            try
            {
                if (buff == null) return false;
                _clientSocket.Send(buff);
                log.debug(string.Format("Send to Server:{0}", Common.HexBuff(buff)));
                return true;
            }
            catch (Exception ex)
            {
                log.error("Send Error", ex);
                IsConn = false;
                Connected?.Invoke(IsConn);
                return false;
            }

        }

        /// <summary>
        /// 检查IP地址
        /// </summary>
        /// <param name="ip"></param>
        /// <returns></returns>
        private 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.info("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.warn("Ping " + ip + " 请求没有响应");
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                log.error("CheckIP Error", ex);
                return false;
            }
        }

    }

}