using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace OnlineStore.DeviceLibrary
{
    /// <summary>
    /// 逐鹿的AGV小车
    /// </summary>
    public class BenQ_AGV
    {
        private Socket client;
        private Thread tReceive;
        private Thread tState;
        private Thread tReconn;

        private string _ip;
        private int packetID;
        private byte[] buff;
        private string buffStr;
        private string queryPacket;  //通知询问指令封包ID
        private bool exit = false;
        private bool loop = false;

        public delegate void StatusEvent(bool status);
        public event StatusEvent Status;

        public BenQ_AGV()
        {
            Stop = false;
            _ip = ConfigAppSettings.GetValue(Setting_Init.BenQ_AGV);
            packetID = 0;
            loop = true;

            tReconn = new Thread(new ThreadStart(Reconnect));
            tReconn.Start();
        }

        /// <summary>
        /// 服务器是否连接
        /// </summary>
        public bool IsConn { set; get; }

        /// <summary>
        /// 左侧存在料架
        /// </summary>
        public bool LeftExist { set; get; }

        /// <summary>
        /// 右侧存在料架
        /// </summary>
        public bool RightExist { set; get; }

        /// <summary>
        /// 左侧入料请求
        /// </summary>
        public bool LeftEnter { set; get; }

        /// <summary>
        /// 右侧入料请求
        /// </summary>
        public bool RightEnter { set; get; }

        /// <summary>
        /// 右侧出料请求
        /// </summary>
        public bool RightLeave { set; get; }

        /// <summary>
        /// 停止动作
        /// </summary>
        public bool Stop { set; get; }

        /// <summary>
        /// RFID两位的文本
        /// </summary>
        public string RFID { set; get; } = "";

        /// <summary>
        /// 是否可以左侧入料
        /// </summary>
        /// <param name="state">true可以入料</param>
        public void MayLeftEnter(bool state)
        {
            LeftEnter = false;

            if (IsConn)
            {
                SendResponse(2, state);
                SendEnterState(2, state);
            }
        }

        /// <summary>
        /// 是否可以右侧入料
        /// </summary>
        /// <param name="state">true可以入料</param>
        public void MayRightEnter(bool state)
        {
            RightEnter = false;

            if (IsConn)
            {
                SendResponse(1, state);
                SendEnterState(1, state);
            }
        }

        /// <summary>
        /// 是否可以出料
        /// </summary>
        /// <param name="state">true可以出料</param>
        public void MayLeave(bool state)
        {
            RightLeave = false;

            if (IsConn)
            {
                SendResponse(1, state);
                SendLeaveState(state);
            }
        }

        /// <summary>
        /// 关闭连接
        /// </summary>
        public void Close()
        {
            exit = true;
            loop = false;
            IsConn = false;
            LogUtil.info("BenQ_AGV : =====程序结束=====\r\n");
        }





        /// <summary>
        /// 连接
        /// </summary>
        private void Connect()
        {
            try
            {
                System.Net.NetworkInformation.Ping ping = new System.Net.NetworkInformation.Ping();
                System.Net.NetworkInformation.PingReply result = ping.Send(_ip, 1000);
                ping.Dispose();
                if (result.Status == System.Net.NetworkInformation.IPStatus.Success)
                {
                    client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, 500);
                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, 500);
                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.NoDelay, 1);
                    client.Connect(System.Net.IPAddress.Parse(_ip), 9800);

                    exit = false;
                    tReceive = new Thread(new ThreadStart(Listen));
                    tReceive.Start();
                    tState = new Thread(new ThreadStart(SendCmd));
                    tState.Start();
                    LogUtil.info("BenQ_AGV : AGV连接成功");
                    IsConn = true;
                }
                else
                {
                    LogUtil.error("BenQ_AGV : Ping " + _ip + " 请求没有响应");
                    IsConn = false;
                }
            }
            catch (Exception ex)
            {
                exit = true;
                LogUtil.error("BenQ_AGV : " + ex.ToString());
                IsConn = false;
            }
        }

        /// <summary>
        /// 发送入口状态
        /// </summary>
        /// <param name="dev">1右侧，2左侧</param>
        /// <param name="roll"></param>
        private void SendEnterState(int dev, bool roll)
        {
            string s;
            string msg = "@1";

            //封包ID
            packetID++;
            if (packetID == 500)
                packetID = 1;
            s = packetID.ToString().PadLeft(3, '0');
            msg += s;

            //设备编码
            msg += "00" + dev;

            //工作状态
            if (Stop)
                msg += "3";
            else
                msg += "1";

            //RFID，入口没有
            msg += "0000";

            //外侧内测
            msg += "00";

            //动力滚筒
            if (Stop)
                msg += "1";
            else
            {
                if (roll)
                    msg += "3";
                else
                    msg += "1";
            }

            //上料口
            if (LeftExist)
                msg += "2";
            else
                msg += "1";

            //下料口
            if (RightExist)
                msg += "2";
            else
                msg += "1";

            //9个0
            msg += "000000000";

            //校验和
            msg += "00";

            msg += "!";

            try
            {
                client.Send(Encoding.ASCII.GetBytes(msg));
                LogUtil.debug("BenQ_AGV : SendEnterState " + msg);
            }
            catch (Exception ex)
            {
                LogUtil.error("BenQ_AGV : " + ex.ToString());
                IsConn = false;
                exit = true;
            }
        }

        /// <summary>
        /// 发送出口状态
        /// </summary>
        /// <param name="roll"></param>
        private void SendLeaveState(bool roll)
        {
            string s;
            string msg = "@1";

            //封包ID
            packetID++;
            if (packetID == 500)
                packetID = 1;
            s = packetID.ToString().PadLeft(3, '0');
            msg += s;

            //设备编码
            msg += "001";

            //工作状态
            if (Stop)
                msg += "3";
            else
                msg += "1";

            //RFID
            if (Stop)
                msg += "0000";
            else
                msg += RFID.PadLeft(4, '0');

            //外侧内测
            msg += "00";

            //动力滚筒
            if (Stop)
                msg += "1";
            else
            {
                if (roll)
                    msg += "2";
                else
                    msg += "1";
            }

            //上料口
            if (LeftExist)
                msg += "2";
            else
                msg += "1";

            //下料口
            if (RightExist)
                msg += "2";
            else
                msg += "1";

            //9个0
            msg += "000000000";

            //校验和
            msg += "00";

            msg += "!";

            try
            {
                client.Send(Encoding.ASCII.GetBytes(msg));
                LogUtil.debug("BenQ_AGV : SendLeaveState " + msg);
            }
            catch (Exception ex)
            {
                LogUtil.error("BenQ_AGV : " + ex.ToString());
                IsConn = false;
                exit = true;
            }
        }

        /// <summary>
        /// 发送设备询问应答
        /// </summary>
        /// <param name="dev">1右侧，2左侧</param>
        /// <param name="sta"></param>
        private void SendResponse(int dev, bool sta)
        {
            string msg = "@2";

            //封包ID
            msg += queryPacket;

            //设备编码
            msg += "00" + dev;

            //执行结果，1通过，2不通过
            msg += sta ? "1" : "2";

            //18个0
            msg += "000000000000000000";

            //校验和
            msg += "00";

            //结束符号
            msg += "!";
            try
            {
                client.Send(Encoding.ASCII.GetBytes(msg));
                LogUtil.debug("BenQ_AGV : SendResponse " + msg);
            }
            catch (Exception ex)
            {
                LogUtil.error("BenQ_AGV : " + ex.ToString());
                IsConn = false;
                exit = true;
            }
        }

        private void Reconnect()
        {
            int count = 0;

            while (loop)
            {
                if (IsConn)
                {
                    Thread.Sleep(5000);
                }
                else
                {
                    Thread.Sleep(1000);
                    Connect();

                    if (IsConn)
                    {
                        count = 0;
                        Status?.Invoke(true);
                    }
                    else
                    {
                        LogUtil.info("BenQ_AGV : AGV连接失败" + ++count + "次");
                        Status?.Invoke(false);
                    }

                    //Thread.Sleep(2000);
                }
            }
        }

        private void SendCmd()
        {
            while (true)
            {
                if (IsConn) SendEnterState(2, false);
                Thread.Sleep(1500);
                if (IsConn) SendEnterState(1, false);
                Thread.Sleep(1500);
                if (IsConn) SendLeaveState(false);
                Thread.Sleep(1500);
                if (exit) break;
            }
        }

        private void Listen()
        {
            byte[] temp = new byte[50];

            while (true)
            {
                Thread.Sleep(50);
                try
                {
                    if (client.Available > 0)
                    {
                        int count = client.Receive(temp);
                        buff = new byte[count];
                        Array.Copy(temp, 0, buff, 0, count);
                        buffStr = Encoding.ASCII.GetString(buff);
                        LogUtil.debug("BenQ_AGV : Received " + buffStr);

                        if (temp[1] == 65)  //A
                            CodeA();
                        else if (temp[1] == 66)  //B
                            CodeB();
                    }
                }
                catch (Exception ex)
                {
                    LogUtil.error("BenQ_AGV : " + ex.ToString());
                    IsConn = false;
                    exit = true;
                }
                if (exit) break;
            }
        }

        private void CodeA()
        {
            if (buffStr[7] == '1')  //右侧出料
                SendLeaveState(false);
            else if (buffStr[7] == '2')  //左右侧进料
                SendEnterState(2, false);
        }

        private void CodeB()
        {

            LogUtil.debug("Enter CodeB");
            queryPacket = buffStr.Substring(2, 3);

            if (Stop)
            {
                SendResponse(buffStr[7], false);
            }
            else
            {
                if (buffStr[7] == '2')  //左侧
                {
                    LogUtil.debug("Enter CodeB 左侧:" + buffStr[8]);
                    LeftEnter = true;
                }
                else if (buffStr[7] == '1')  //右侧
                {
                    if (buffStr[8] == '1')  //出去
                        RightLeave = true;
                    if (buffStr[8] == '2')  //进入
                        RightEnter = true;
                    LogUtil.debug("Enter CodeB 右侧:" + buffStr[8]);
                }
                else
                {
                    LogUtil.debug("Enter CodeB ELSE: " + buffStr[7]);
                }
            }
        }
    }
}