using Asa;
using Asa.RFID;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace OnlineStore.DeviceLibrary
{
    public class AgvClient
    {
        private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
        private static Asa.AgvClient agvClient;
        public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
        public static List<string> NodeList = new List<string>();
        private static bool isInit = false;
        public static void Init()
        {
            try
            {
                if (!isInit)
                {
                    isInit = true;
                    agvClient = new Asa.AgvClient(ServerIp);
                    agvClient.CancelState = true;
                    agvClient.Log += AgvClient_Log;
                    agvClient.Arrive += AgvClient_Arrive;
                    agvClient.Ready += AgvClient_Ready;
                    agvClient.CloseDoor += AgvClient_CloseDoor;
                }
                actionMap = new Dictionary<string, Asa.ClientAction>();
                //foreach (string key in NodeList)
                //{
                //    actionMap.Add(key, Asa.ClientAction.None);
                //}

                agvClient.Connect();
                foreach (string str in NodeList)
                {
                    SetStatus(str);
                    LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
                }

            }
            catch (Exception ex)
            {
                LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
            }
        }

        public static void SetCancelState(bool isCancel)
        {
            agvClient.CancelState = isCancel;
        }
        private static void AgvClient_CloseDoor(string id, string content)
        {
            //RFIDData data = new RFIDData(content);
            LogUtil.debug ("收到 AgvClient_CloseDoor [" + id + "] [" + content + "]  ");
        }

        public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
        {
            //  ClientAction currA = GetAction(id);
            if (actionMap.ContainsKey(id))
            {
                ClientAction currA = actionMap[id]; //相同状态就设置一次
                if (currA.Equals(action))
                {
                    return;
                }
            }

            agvClient.SetStatus(id, "", shelfId, action, level);
            UpdateAction(id, action);
        }
        private static void AgvClient_Ready(string id, string rfid)
        {

            //RFIDData data = new RFIDData(content);
            string logName = "收到 AgvClient_Ready [" + id + "] [" + rfid + "]   ";
            LogUtil.info(logName);

            UpdateAction(id, Asa.ClientAction.Ready);
            //if (id.Equals(LineManager.Config.OutL_AgvName))
            {
                //if (IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.LOW))
                //{
                //    Task.Factory.StartNew(delegate
                //    {
                //        //       SetStatus(id, "", ClientAction.MayEnter);
                //        LogUtil.info(logName + "  ,等待OutL_InCheck");
                //        try
                //        {
                //            WaitUtil.Wait(60000, delegate
                //            {
                //                return IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.HIGH);
                //            }, "等待OutL_InCheck=HIGH");
                //        }
                //        catch (Exception ex)
                //        {
                //            LogUtil.error(logName + ":" + ex.ToString());
                //        }

                //        //两秒后改为离开状态
                //        Thread.Sleep(3000);
                //        LogUtil.info(logName + "  ，调用  FinishEnter ");
                //        SetStatus(id, "", ClientAction.FinishEnter);

                //        Thread.Sleep(5000);
                //        LogUtil.info(logName + "  ，处理结束  更新状态为None ");
                //        SetStatus(id, "", ClientAction.None);

                //    });
                //}
                //else
                //{
                //    LogUtil.error(logName + " OutL_InCheck 检测到有料架，AGV的料架无法进入");
                //    SetStatus(id, "", ClientAction.None, ClientLevel.High);
                //}
            }

           // else if (id.Equals(LineManager.Config.InL_AgvName))
            {
                //string shefId = LineManager.VMILine.LastOutShelfId;
                //if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH))
                //{
                //    LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown, 1500);
                //    //agvClient.MayLeave(id);
                //    //  SetStatus(id, shefId, ClientAction.MayLeave);
                //    LogUtil.info(logName + "下降 InL_OutStopDown ，  " + shefId);

                //    Task.Factory.StartNew(delegate
                //    {
                //        //两秒后改为离开状态
                //        Thread.Sleep(5000);
                //        LogUtil.info(logName + "  ，调用  FinishLeave " + shefId);
                //        SetStatus(id, shefId, ClientAction.FinishLeave);

                //        Thread.Sleep(5000);

                //        LogUtil.info(logName + "  ，处理结束  更新状态为None ");
                //        SetStatus(id, "", ClientAction.None);
                //    });
                //}
                //else
                //{
                //    LogUtil.error(logName + "  InL_OutStopCheck 未检测到料架，无法将料架进入AGV");
                //    SetStatus(id, "", ClientAction.None, ClientLevel.High);
                //}
            }
        }
        private static void AgvClient_Arrive(string id, string content)
        {
            UpdateAction(id, Asa.ClientAction.Arrive);
            //RFIDData data = new RFIDData(content);
            LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + content + "]   ");

        }

        public static bool SetToNone(string id, string shelfId = "")
        {
            ClientAction currA = GetAction(id);
            if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
            {
                SetStatus(id, shelfId, ClientAction.None);
                return true;
            }
            return false;
        }
        public static bool NeedEnter(string id, string shelfId)
        {
            ClientAction currA = GetAction(id);
            if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
            {
                SetStatus(id, shelfId, ClientAction.NeedEnter);
                return true;
            }
            return false;
        }
        public static bool NeedLeave(string id, string shelfId)
        {
            ClientAction currA = GetAction(id);
            if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
            {
                SetStatus(id, shelfId, ClientAction.NeedLeave);
                return true;
            }
            return false;
        }
        public static bool ISConnected()
        {
            if (agvClient == null)
            {
                return false;
            }
            return agvClient.IsConn;
        }
        //public static void SendRFID(string NodeName, string rfid)
        //{
        //    agvClient.SendRFID(NodeName, rfid);

        //} 
        private static void AgvClient_Log(string s)
        {
            try
            {
                bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
                if (isLog)
                {
                    LogUtil.info(" AGV " + ServerIp + " Log : " + s);
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
            }
        }

        public static Asa.ClientAction GetAction(string NodeName)
        {
            if (actionMap.ContainsKey(NodeName))
            {
                return actionMap[NodeName];
            }
            return Asa.ClientAction.None;
        }
        public static void UpdateAction(string name, Asa.ClientAction action)
        {
            if (actionMap.ContainsKey(name))
            {
                actionMap[name] = action;
            }
            else
            {
                actionMap.Add(name, action);
            }
        }
        public static void Dispose()
        {
            try
            {
                if (agvClient != null)
                {
                    agvClient.Close();
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
            }
        }
    }
}