using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Management;
using static DeviceLibrary.OpManager;

namespace DeviceLibrary.lift
{
    public class LiftContext
    {
        /// <summary>
        /// 所有电梯状态
        /// </summary>
        static Dictionary<string, LiftInfo> lifts = new Dictionary<string, LiftInfo>();

        public static string GetLiftInfos()
        {
            try
            {
                return JsonHelper.SerializeObject(lifts);
            }
            catch { }
            return "";
        }
        public static void Init()
        {
            string[] names = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Names, "LIFT_D2,LIFT_C1").Split(',');
            foreach (var item in names)
            {
                lifts.Add(item, new LiftInfo());
            }
            Common.LogUtil.info($"加载电梯信息完成：{string.Join(",", names)}");
        }
        static object locCheckOpen = new object();
        /// <summary>
        /// 1楼小车检查是否有空成品车在电梯内
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="missionLiftName">当前任务的电梯名字</param>
        /// <returns></returns>

        public static bool CheckHasEmptyFinished(AgvInfo agv, string missionLiftName, out LiftStatus liftStatus)
        {
            liftStatus = GetLiftStatus(SettingString.LIFT_D2);
            if (!SettingString.LIFT_D2.Equals(missionLiftName)) return false;//不是D2电梯无需检查空成品料车
            if (agv?.Scope?.Workshop.Equals("1F") ?? false)
            {
                if (liftStatus?.HasEmptyFinishedShelf ?? false)//D2电梯有成品空架子，不返回门状态
                {
                    //返回一个成品任务id
                    liftStatus.missionId = manager.MissionManager.GetMissionIdByEmptyFinishedShelfInLift(SettingString.LIFT_C1);
                    return true;
                }
            }
            return false;
        }

        public static string GetLiftNodeOccupiedInfo()
        {
            try
            {
                StringBuilder sb = new StringBuilder();
                sb.AppendLine("电梯位置占用信息");
                foreach (var item in lifts)
                {
                    sb.Append(item.Key + "：");
                    sb.AppendLine("[电梯占用：" + string.Join(";", item.Value.Agvs) + "]");
                }
                return sb.ToString();
            }
            catch
            {

            }
            return "";
        }
        /// <summary>
        /// 设置电梯节点的占用
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        public static void SetLiftNodeOccupied(AgvInfo agv, string liftName = "")
        {
            try
            {
                if (string.IsNullOrEmpty(liftName))
                {
                    foreach (var item in lifts.Values)
                    {
                        if (item.Agvs != null && item.Agvs.Contains(agv.Name))
                        {
                            item.Agvs.Remove(agv.Name);
                            LogUtil.info($"【{agv.Name}】清除电梯节点占用：{string.Join(",", item.Agvs)}");
                        }
                    }
                }
                else
                {
                    if (!lifts[liftName].Agvs.Contains(agv.Name))
                    {
                        lifts[liftName].Agvs.Add(agv.Name);
                        LogUtil.info($"【{agv.Name}】设置电梯【{liftName}】节点占用：{string.Join(",", lifts[liftName].Agvs)}");
                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"SetLiftOccupied: {agv.Name},{liftName}", ex);
            }
        }
        /// <summary>
        /// 同车间的其他小车是否占用电梯
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        /// <returns></returns>
        public static bool OtherAGVIsInLift(AgvInfo agv, string liftName)
        {
            try
            {
                AgvInfo agvInfo = AGVManager.agvInfo.Find(s =>
                s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP));
                if (agvInfo != null)
                {
                    return lifts[liftName].Agvs.Contains(agvInfo.Name);
                }
                else
                    return false;
            }
            catch (Exception ex)
            {
                LogUtil.error($"OtherAGVIsInLift: {agv.Name},{liftName}", ex);
            }
            return false;
        }
        /// <summary>
        /// 4楼AGV是否在D2电梯
        /// </summary>
        /// <param name="liftName"></param>
        /// <returns></returns>
        public static bool F4AGVIsInD2Lift()
        {
            try
            {
                var agvs = AGVManager.agvInfo.FindAll(s =>
                s.Scope.Workshop.Equals(SettingString._4D));
                foreach (var item in agvs)
                {
                    if(lifts.ContainsKey(SettingString.LIFT_D2) && lifts[SettingString.LIFT_D2].Agvs.Contains(item.Name))
                    {
                        return true;
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogUtil.error($"OtherAGVIsInLift: {SettingString.LIFT_D2}", ex);
            }
            return false;
        }
        /// <summary>
        /// 电梯是否开门
        /// </summary>
        /// <param name="liftId"></param>
        /// <returns></returns>
        public static bool IsDoorOpen(string liftId, int floor, AgvInfo agv)
        {
            LiftStatus liftStatus = GetLiftStatus(liftId);
            {
                LogUtil.debug($"检查电梯{liftId}门是否开开启");
                if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) && !OtherAGVIsInLift(agv, liftId))
                    return true;
            }
            return false;
        }
        public static bool IsDoorOpen(string liftId)
        {
            LiftStatus liftStatus = GetLiftStatus(liftId);
            {
                LogUtil.debug($"检查电梯{liftId}门是否开开启");
                if (liftStatus.door.Equals("opened"))// 
                    return true;
            }
            return false;
        }

        /// <summary>
        /// 请求使用电梯
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="missionInfo"></param>
        /// <param name="isback">是否是返回</param>
        public static bool Request(service.model.MissionInfo missionInfo, AgvInfo agvInfo, bool isback = false, bool needCall = true)
        {
            service.model.SendInInfo info;
            bool rtn = false;
            if (isback)//返回
            {
                if (!AGVManager.GetsysClientBy(missionInfo.sourceFloor, missionInfo.liftName, out string destclient))
                {
                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
                    return false;
                }
                info = new service.model.SendInInfo()
                {
                    liftId = missionInfo.liftName,
                    destinationFloor = missionInfo.sourceFloor,
                    destinationPoint = missionInfo.sourcePoint,
                    destinationClient = destclient,
                    sourceFloor = missionInfo.destinationFloor,
                    sourceClient = agvInfo.Client,
                    missionId = missionInfo.missionId,
                };
                rtn = HttpManager.RequestSendIn(info);
                if (rtn)
                    HttpManager.AGVCall(new service.model.DoorInfo { liftId = missionInfo.liftName, sourceClient = agvInfo.Client, sourceFloor = missionInfo.destinationFloor });
            }
            else
            {
                if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, missionInfo.liftName, out string destclient))
                {
                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
                    return false;
                }
                info = new service.model.SendInInfo()
                {
                    liftId = missionInfo.liftName,
                    sourceClient = agvInfo.Client,
                    sourceFloor = missionInfo.sourceFloor,
                    sourcePoint = missionInfo.sourcePoint,
                    destinationClient = destclient,
                    destinationFloor = missionInfo.destinationFloor,
                    destinationPoint = missionInfo.destinationPoint,
                    missionId = missionInfo.missionId,
                };
                rtn = HttpManager.RequestSendIn(info);
                if (rtn && needCall)
                    HttpManager.AGVCall(new service.model.DoorInfo { liftId = missionInfo.liftName, sourceClient = agvInfo.Client, sourceFloor = missionInfo.sourceFloor });
            }
            return rtn;
        }
        /// <summary>
        /// 更新请求信息
        /// </summary>
        /// <param name="missionInfo"></param>
        /// <param name="agvInfo"></param>
        /// <param name="isback"></param>
        /// <returns></returns>
        public static bool UpdateRequestInfo(service.model.MissionInfo missionInfo, AgvInfo agvInfo, bool isback = false)
        {
            service.model.SendInInfo info;
            bool rtn = false;
            if (isback)//返回
            {
                if (!AGVManager.GetsysClientBy(missionInfo.sourceFloor, missionInfo.liftName, out string destclient))
                {
                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
                    return false;
                }
                info = new service.model.SendInInfo()
                {
                    liftId = missionInfo.liftName,
                    destinationFloor = missionInfo.sourceFloor,
                    destinationPoint = missionInfo.sourcePoint,
                    destinationClient = destclient,
                    sourceFloor = missionInfo.destinationFloor,
                    sourceClient = agvInfo.Client,
                    missionId = missionInfo.missionId,
                    updateInfo = true
                };
            }
            else
            {
                if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, missionInfo.liftName, out string destclient))
                {
                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
                    return false;
                }
                info = new service.model.SendInInfo()
                {
                    liftId = missionInfo.liftName,
                    sourceClient = agvInfo.Client,
                    sourceFloor = missionInfo.sourceFloor,
                    sourcePoint = missionInfo.sourcePoint,
                    destinationClient = destclient,
                    destinationFloor = missionInfo.destinationFloor,
                    destinationPoint = missionInfo.destinationPoint,
                    missionId = missionInfo.missionId,
                    updateInfo = true
                };
            }
            LogUtil.info($"更新电梯请求信息：{JsonHelper.SerializeObject(info)}");
            rtn = HttpManager.RequestSendIn(info);
            return rtn;
        }
        /// <summary>
        /// 成品呼叫
        /// </summary>
        /// <param name="missionInfo"></param>
        /// <param name="agvInfo"></param>
        /// <returns></returns>
        public static bool FinishedRequest(service.model.MissionInfo missionInfo, AgvInfo agvInfo)
        {
            service.model.SendInInfo info;
            bool rtn = false;
            if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, Common.SettingString.LIFT_D2, out string destclient))
            {
                Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
                return false;
            }
            info = new service.model.SendInInfo()
            {
                liftId = Common.SettingString.LIFT_D2,
                destinationFloor = missionInfo.destinationFloor,
                destinationPoint = missionInfo.destinationPoint,
                destinationClient = agvInfo.Client,
                sourceFloor = missionInfo.destinationFloor,
                sourceClient = agvInfo.Client,
                missionId = missionInfo.missionId,
            };
            rtn = HttpManager.RequestSendIn(info);
            if (rtn)
                HttpManager.AGVCall(new service.model.DoorInfo { liftId = Common.SettingString.LIFT_D2, sourceClient = agvInfo.Client, sourceFloor = missionInfo.destinationFloor });

            return rtn;
        }
        /// <summary>
        /// AGV离开
        /// </summary>
        /// <param name="agvInfo"></param>
        /// <param name="continueUse">是否继续使用电梯</param>
        /// <returns></returns> 
        public static bool AGVLeave(string liftId, AgvInfo agvInfo, bool continueUse = true)
        {
            bool rtn = HttpManager.AGVLeave(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor, continueUse = continueUse });
            Thread.Sleep(3000);
            //清除电梯占用
            SetLiftNodeOccupied(agvInfo);
            Common.LogUtil.info($"{agvInfo.Name} 离开 {liftId}：{rtn}");
            return rtn;
        }
        public static bool EmptyFinishedAGVLeave(string liftId, AgvInfo agvInfo)
        {
            bool rtn = HttpManager.AGVLeave(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor, continueUse = false, force = true });
            Thread.Sleep(3000);
            //清除电梯占用
            SetLiftNodeOccupied(agvInfo);
            Common.LogUtil.info($"{agvInfo.Name} 空成品料架离开 {liftId}：{rtn}");
            return rtn;
        }
        public static bool FinishedProduct(string liftId, AgvInfo agvInfo)
        {
            bool rtn = HttpManager.FinishedProduct(new service.model.FinishedInfo() { liftId = liftId });
            Common.LogUtil.info($"{agvInfo.Name} 送成品满料 {liftId}：{rtn}");
            return rtn;
        }
        public static bool CloseFinishedProduct(string liftId, AgvInfo agvInfo)
        {
            bool rtn = HttpManager.FinishedProduct(new service.model.FinishedInfo() { liftId = liftId, HasFullFinishedShelf = false });
            Common.LogUtil.info($"{agvInfo.Name} 关闭送成品满料 {liftId}：{rtn}");
            return rtn;
        }
        /// <summary>
        /// AGV呼叫
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="agvInfo"></param>
        /// <returns></returns>
        public static bool AGVCall(string liftId, AgvInfo agvInfo)
        {
            bool rtn = HttpManager.AGVCall(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor });
            Common.LogUtil.info($"{agvInfo.Name} 呼叫 {rtn}");
            return rtn;
        }
        /// <summary>
        /// 成品入库送到楼下
        /// 只针对D2电梯
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="hasFullFinished"></param>
        /// <returns></returns>
        public static bool SetFinishedState(string liftId, bool hasFullFinished)
        {
            bool rtn = HttpManager.SetFinishedState(new service.model.FinishedInfo() { liftId = liftId, HasFullFinishedShelf = hasFullFinished });
            Common.LogUtil.info($"设置电梯{liftId}成品状态为{hasFullFinished}");
            return rtn;
        }
        /// <summary>
        /// 检查离开信号发送情况
        /// </summary>
        /// <param name="liftId"></param>
        /// <returns></returns>
        public static bool CheckAgvLeaveSig(string liftId)
        {
            if (!lifts[liftId].LiftStatus.door.Equals("opened"))
                return true;
            return false;
        }
        /// <summary>
        /// 有架子需要离开电梯
        /// </summary>
        /// <param name="liftId"></param>
        /// <returns></returns>
        public static bool HasShelfNeedLeave(string liftId, string client, out LiftStatus liftStatus)
        {
            liftStatus = GetLiftStatus(liftId);
            if (liftStatus.destinationClient.Equals(client))
            {
                liftStatus.missionId = manager.MissionManager.GetMissionIdByShelfInLift(liftId);
                return true;
            }
            return false;
        }
        public static bool HasShelfNeedLeaveFinished(string liftId, string client, out LiftStatus liftStatus)
        {
            liftStatus = GetLiftStatus(liftId);
            if (liftStatus.destinationClient.Equals(client) && liftStatus.sourceClient.Equals(client))
                return false;
            if (liftStatus.destinationClient.Equals(client))
            {
                liftStatus.missionId = manager.MissionManager.GetMissionIdByShelfInLift(liftId);
                liftStatus.missionId = manager.MissionManager.GetMissionIdByShelfInLift(liftId);
                return true;
            }
            return false;
        }

        /// <summary>
        /// 有成品架子需要离开电梯
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="client"></param>
        /// <param name="liftStatus"></param>
        /// <returns></returns>
        public static bool HasFinishedShelfNeedLeave(string liftId, string client, out LiftStatus liftStatus)
        {
            liftStatus = GetLiftStatus(liftId);
            liftStatus.missionId = manager.MissionManager.GetByFinishedShelfNeedLeaveInLift(liftId);
            if (!liftStatus.missionId.Equals(""))
                return true;
            return false;
        }
        public static bool HasEmptyFinishedShelfNeedLeave(out LiftStatus liftStatus)
        {
            liftStatus = GetLiftStatus(SettingString.LIFT_D2);
            liftStatus.missionId = manager.MissionManager.GetMissionIdByEmptyFinishedShelfInLift(SettingString.LIFT_C1);
            if (!liftStatus.missionId.Equals(""))
                return true;
            return false;
        }
        public static bool EmptyFinishedShelfSig(string liftName)
        {
            if (!SettingString.LIFT_D2.Equals(liftName)) return false;
            LiftStatus liftStatus = GetLiftStatus(SettingString.LIFT_D2);
            if (liftStatus?.HasEmptyFinishedShelf ?? false)
                return true;
            else
                return false;
        }
        /// <summary>
        /// 检查该任务agv是否获得电梯控制权
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="missionId"></param>
        /// <returns></returns>
        public static bool CheckIfRequestOk(string liftId, service.model.MissionInfo mission)
        {
            LiftStatus liftStatus = GetLiftStatus(liftId);
            if (liftStatus.missionId.Equals(mission.missionId))
                return true;
            return false;
        }

        /// <summary>
        /// 获取电梯状态
        /// </summary>
        /// <param name="liftId"></param>
        /// <returns></returns>
        public static LiftStatus GetLiftStatus(string liftId)
        {
            if (lifts.ContainsKey(liftId))
            {
                return lifts[liftId].LiftStatus.ToCopy();
            }
            else
                return new LiftStatus();
        }
        public static string[] GetLiftNames()
        {
            return lifts.Keys.ToArray();
        }
        public static void UpdateStatus(ClientStatus status)
        {
            try
            {
                LiftStatus lift = HttpManager.UpdateStatusToLift(status);
                if (lift != null)
                {
                    lifts[status.liftId].LiftStatus = lift;
                }
            }
            catch (Exception e)
            {
                Common.LogUtil.error($"上报状态给电梯失败:{status.ToString()}", e);
            }
        }

    }
}