using Common;
using DeviceLib.BLL;
using DeviceLib.Model.AGV;
using Dolen.Forms;
using System;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Text;
using System.Threading;
using System.Windows.Forms;

namespace UControl.UC
{
    public partial class UCRobotStatus : UserControl
    {
        public UCRobotStatus(Robot robot)
        {
            InitializeComponent();
            ucInfoControlWarn.SetForeColor(Color.Red);
            this.robot = robot;
            timer1.Start();
        }
        public bool EditMode { get; set; } = false;
        public Robot robot;
        public int MaxBattery { get; set; } = 90;
        public int MinBattery { get; set; } = 20;
        int posLeft = 1;
        int posRight = 2;
        void SetTitle()
        {
            this.Invoke(new Action(() =>
            {
                lblTitle.Text = robot.name;
            }
            ));
        }
        void enableEdit()
        {
            EditMode = true;
        }
        /// <summary>
        /// 设置电量
        /// </summary>
        /// <param name="curBattery"></param>
        /// <param name="isInCharge"></param>
        void SetBattery(double curBattery, bool isInCharge = false)
        {
            object[] objs = Manager.SetBattery(curBattery, isInCharge, MinBattery, MaxBattery);
            try
            {
                this.Invoke(new Action(() =>
                {
                    lblBattery.Text = objs[0] as string;
                    picBattery.Image = objs[1] as Image;
                }
                ));
            }
            catch { }
        }
        /// <summary>
        /// 设置连接状态
        /// </summary>
        /// <param name="state"></param>
        void SetConnectState(bool state = false)
        {
            Image image = Manager.SetConnState(state);
            this.Invoke(new Action(() =>
            {
                picWifi.Image = image;
            }
            ));
        }
        /// <summary>
        /// 设置当前任务名称
        /// </summary>
        /// <param name="missionName"></param>
        void SetMissionName(string missionName)
        {
            this.Invoke(new Action(() =>
            {
                lblMissionName.Text = missionName;
            }
            ));
        }
        /// <summary>
        /// 设置agv当前状态
        /// </summary>
        /// <param name="curState"></param>
        void SetMissionState(string agvState, string missionState)
        {
            object[] objs = Manager.SetAGVState(agvState);
            this.Invoke(new Action(() =>
            {
                lblMissionStateStr.Text = $"【{agvState}】【{missionState}】【{robot.mission_state?.run_id ?? -1}】";
                picMissionState.Image = objs[1] as Image;
            }
            ));
        }
        void setCustomState(RobotState state)
        {
            lblCurStatus.Text = robot.state.ToString();
        }
        #region 圆角
        private void UCRobotStatus_Resize(object sender, EventArgs e)
        {
            // SetWindowRegion();
        }
        public void SetWindowRegion()
        {
            System.Drawing.Drawing2D.GraphicsPath FormPath;
            FormPath = new System.Drawing.Drawing2D.GraphicsPath();
            Rectangle rect = new Rectangle(0, 0, this.Width, this.Height);
            FormPath = GetRoundedRectPath(rect, 10);
            this.Region = new Region(FormPath);

        }
        private GraphicsPath GetRoundedRectPath(Rectangle rect, int radius)
        {
            int diameter = radius;
            Rectangle arcRect = new Rectangle(rect.Location, new Size(diameter, diameter));
            GraphicsPath path = new GraphicsPath();

            // 左上角
            path.AddArc(arcRect, 180, 90);

            // 右上角
            arcRect.X = rect.Right - diameter;
            path.AddArc(arcRect, 270, 90);

            // 右下角
            arcRect.Y = rect.Bottom - diameter;
            path.AddArc(arcRect, 0, 90);

            // 左下角
            arcRect.X = rect.Left;
            path.AddArc(arcRect, 90, 90);
            path.CloseFigure();//闭合曲线
            return path;
        }
        #endregion
        object locObj = new object();
        /// <summary>
        /// 信息刷新
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!this.IsHandleCreated)
                return;
            if (Monitor.TryEnter(locObj, 300))
            {
                try
                {
                    this.Invoke(new Action(() =>
                    {
                        负载信息ToolStripMenuItem.Enabled = !robot.auto;
                        SetTitle();
                        updateRunMode();
                        updateShelfSett();
                        //机器人自定义状态
                        setCustomState(robot.state);
                        //当前运行模式
                        if (robot.auto)
                        {
                            if (robot.is_debug)
                            {
                                lblMode.Text = "调试模式";
                            }
                            else
                                lblMode.Text = "自动模式";
                        }
                        else
                        {
                            lblMode.Text = "手动模式";
                        }
                        //订单信息
                        ucInfoControlOrder.Info = $"{robot?.job?.JobParam?.OrderId ?? ""}";
                        //车间
                        lblWorkshop.Text = robot?.workshop?.description ?? "";
                        //设置当前机器人状态
                        SetMissionState(robot?.status?.state ?? "", robot?.mission_state?.state ?? "");
                        //设置机器人当前任务名称
                        SetMissionName($"【{robot?.mission_state?.mission?.alias ?? ""}】");//【{robot?.mission_state?.mission?.alias ?? ""}】【{robot?.mission_state?.mission?.name ?? ""}】
                        //设置运输任务名称
                        ucInfoControlJobName.Info = robot?.job?.JobName ?? "无运输任务";
                        //运输任务步骤
                        ucInfoControlStep.Info = robot?.job?.JobRunStep?.CurStepStr ?? "";
                        //运输步骤信息
                        ucInfoControlStepMsg.Info = robot?.job?.JobRunStep?.Msg ?? "";
                        //步骤警告信息
                        ucInfoControlWarn.Info = robot?.job?.JobRunStep?.WarnMsg ?? "";
                        //设置电量
                        SetBattery(robot?.status?.battery_percentage ?? 0.0, robot.state.Equals(RobotState.充电中));
                        //设置连接状态
                        SetConnectState(robot.status?.is_online ?? false);
                        //离目的地距离
                        lblDistance.Text = $"{robot.status?.distance_to_next_target.ToString("f1") ?? "0"}米";
                        //车上负载信息
                        setLoadInfo();
                        //位置
                        lblPos.Text = $"{robot?.place ?? ""}";
                    }
                    ));
                }
                catch (Exception ex)
                {
                    LogUtil.Error($"{robot?.name ?? ""}机器人状态更新出错", ex);
                }
                finally
                {
                    Monitor.Exit(locObj);
                }
            }
        }
        private void setLoadInfo()
        {
            if (robot.load_infos == null)
            {
                ucInfoControlShelf.Info = "null";
            }
            else
            {
                StringBuilder sb = new StringBuilder();
                foreach (var item in robot.load_infos)
                {
                    string pos = item.pos == posLeft ? "左" : "右";
                    sb.Append($"【{pos};{item.shelf_id};{item.shelf_type}】");
                }
                ucInfoControlShelf.Info = sb.ToString();
            }
        }
        string gouhao = "✔ ";
        private void updateRunMode()
        {
            if (robot.auto)
            {
                menuItemOpenAuto.Text = $"{gouhao}开启";
                menuItemCloseAuto.Text = $"关闭";
            }
            else
            {
                menuItemOpenAuto.Text = $"开启";
                menuItemCloseAuto.Text = $"{gouhao}关闭";
            }
            if (robot.is_debug)
            {
                menuItemOpenDebug.Text = $"{gouhao}开启";
                menuItemCloseDebug.Text = $"关闭";
            }
            else
            {
                menuItemOpenDebug.Text = $"开启";
                menuItemCloseDebug.Text = $"{gouhao}关闭";
            }
        }
        private void updateShelfSett()
        {
            if (robot.load_infos != null)
            {
                foreach (var item in robot.load_infos)
                {
                    if (item.pos == posLeft)
                    {
                        左货架号toolStripTextBox1.Text = item.shelf_id;
                        if (item.shelf_type.Equals(ShelfType.None))
                        {
                            左无货架ToolStripMenuItem.Text = $"{gouhao}无货架";
                            左有满货架ToolStripMenuItem.Text = $"有满货架";
                            左有空货架ToolStripMenuItem.Text = $"有空货架";

                        }
                        else if (item.shelf_type.Equals(ShelfType.Empty))
                        {
                            左无货架ToolStripMenuItem.Text = $"无货架";
                            左有满货架ToolStripMenuItem.Text = $"有满货架";
                            左有空货架ToolStripMenuItem.Text = $"{gouhao}有空货架";
                        }
                        else if (item.shelf_type.Equals(ShelfType.Full))
                        {
                            左无货架ToolStripMenuItem.Text = $"无货架";
                            左有满货架ToolStripMenuItem.Text = $"{gouhao}有满货架";
                            左有空货架ToolStripMenuItem.Text = $"有空货架";
                        }
                    }
                    else
                    {
                        右货架号toolStripTextBox1.Text = item.shelf_id;
                        if (item.shelf_type.Equals(ShelfType.None))
                        {
                            右无货架ToolStripMenuItem.Text = $"{gouhao}无货架";
                            右有满货架ToolStripMenuItem.Text = $"有满货架";
                            右有空货架ToolStripMenuItem.Text = $"有空货架";

                        }
                        else if (item.shelf_type.Equals(ShelfType.Empty))
                        {
                            右无货架ToolStripMenuItem.Text = $"无货架";
                            右有满货架ToolStripMenuItem.Text = $"有满货架";
                            右有空货架ToolStripMenuItem.Text = $"{gouhao}有空货架";
                        }
                        else if (item.shelf_type.Equals(ShelfType.Full))
                        {
                            右无货架ToolStripMenuItem.Text = $"无货架";
                            右有满货架ToolStripMenuItem.Text = $"{gouhao}有满货架";
                            右有空货架ToolStripMenuItem.Text = $"有空货架";
                        }
                    }
                }
            }
        }

        #region 设置
        private void menuItemOpenAuto_Click(object sender, EventArgs e)
        {
            if (checkState())
            {
                robot.auto = true;
                enableEdit();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：打开自动模式");
            }

        }
        bool checkState()
        {
            try
            {
                bool OpenCheckLoadIO = AppConfigSetting.GetBoolVal(Setting_Str.OpenCheckLoadIO, false);
                if (!OpenCheckLoadIO) return true;
                if (robot.io_modules != null && robot.io_modules.Count == 2)
                {
                    if (robot.io_modules[0].status?.input_state != null
                        && robot.io_modules[0].status?.input_state.Count == 4
                        && robot.io_modules[1].status?.input_state != null
                          && robot.io_modules[1].status?.input_state.Count == 4)
                    {
                        if ((robot.io_modules[0].status?.input_state[1]??false) 
                            && (robot.io_modules[1].status?.input_state[1] ?? false))
                        {
                            MessageBox.Show("检测到左右两侧均有容器，请拿走一个！");
                            return false;
                        }
                        else if (!(robot.io_modules[0].status?.input_state[1] ?? false)
                            && !(robot.io_modules[1].status?.input_state[1] ?? false))
                        {
                            MessageBox.Show("检测到左右两侧无容器，请放一个到AGV上！");
                            return false;
                        }
                        else if ((robot.io_modules[0].status?.input_state[1] ?? false)
                            && !(robot.io_modules[1].status?.input_state[1] ?? false))//左侧有，右侧无
                        {
                            LoadInfo loadInfo = getLoadInfo(posLeft);
                            if (loadInfo != null)
                            {
                                loadInfo.shelf_type = ShelfType.Empty;
                            }
                            LoadInfo loadInfo1 = getLoadInfo(posRight);
                            if (loadInfo1 != null)
                            {
                                loadInfo1.shelf_type = ShelfType.None;
                                loadInfo1.shelf_id = "";
                            }
                            setRobot();
                            LogUtil.Info($"{robot.name}切换为自动时，AGV负载状态：左侧有空容器，右侧无容器");
                            return true;
                        }
                        else if (!(robot.io_modules[0].status?.input_state[1] ?? false)
                                && (robot.io_modules[1].status?.input_state[1] ?? false))//左侧无，右侧有
                        {
                            LoadInfo loadInfo = getLoadInfo(posLeft);
                            if (loadInfo != null)
                            {
                                loadInfo.shelf_type = ShelfType.None;
                                loadInfo.shelf_id = "";
                            }
                            LoadInfo loadInfo1 = getLoadInfo(posRight);
                            if (loadInfo1 != null)
                            {
                                loadInfo1.shelf_type = ShelfType.Empty;
                            }
                            setRobot();
                            LogUtil.Info($"{robot.name}切换为自动时，AGV负载状态：左侧无容器，右侧有空容器");
                            return true;
                        }
                    }
                    else
                    {
                        MessageBox.Show("获取车上负载状态异常！");
                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.Error("检查小车负载异常", ex);
            }
            return false;
        }
        private void menuItemCloseAuto_Click(object sender, EventArgs e)
        {
            if (robot.auto)
            {
                DialogResult dialogResult = MessageBox.Show("将小车切换为手动状态将清除当前运输任务，是否切换？", "提示", MessageBoxButtons.OKCancel);
                if (dialogResult == DialogResult.OK)
                {
                    robot.auto = false;
                    if (!string.IsNullOrEmpty(robot?.job?.JobParam?.OrderId ?? ""))
                        OrderManager.DeleteOrderById(robot.job.JobParam.OrderId, out string msg, true);
                    Context.SetNodeOccupied(robot.id);
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：关闭自动模式。中断运输单：{robot?.job?.JobParam?.OrderId}");
                    robot.job = null;
                    MissionManager.Init(robot);
                }
            }

            enableEdit();
        }

        private void menuItemOpenDebug_Click(object sender, EventArgs e)
        {
            robot.is_debug = true;
            enableEdit();
            LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：打开调试模式");
        }

        private void menuItemCloseDebug_Click(object sender, EventArgs e)
        {
            robot.is_debug = false;
            enableEdit();
            LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：关闭调试模式");
        }
        private void RobotStateChange_Click(object sender, EventArgs e)
        {
            if (robot.status == null) return;
            switch (robot.status.state_id)
            {
                case 4:
                    robot.operation?.Set_Ready();
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：Pause->Ready");
                    break;
                case 11:
                    robot.operation?.Set_Ready();
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：ManualControl->Ready");
                    break;
                case 12:
                    robot.operation?.Clear_Error();
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：清除 Error");
                    break;
                default:
                    robot.operation?.Set_Pause();
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：点击 Pause");
                    break;
            }
            enableEdit();
        }
        /// <summary>
        /// 任务重发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void pictureBox1_Click(object sender, EventArgs e)
        {
            if (robot.auto)
            {
                try
                {
                    robot.job?.ReSendMission(robot, true);
                    LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：任务重发");
                }
                catch (Exception ex)
                {
                    LogUtil.Error($"{robot?.name ?? ""}机器人手动操作：任务重发出错", ex);
                }
                enableEdit();
            }
        }
        #endregion
        private LoadInfo getLoadInfo(int pos)
        {
            return robot.load_infos?.Find(s => s.pos == pos) ?? null;
        }
        private void 左无货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posLeft);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.None;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置左侧无货架");
            }

        }

        private void 左有空货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posLeft);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.Empty;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置左侧有空货架");
            }
        }

        private void 左有满货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posLeft);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.Full;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置左侧有满货架");
            }
        }

        private void 右无货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posRight);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.None;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置右侧无货架");
            }
        }

        private void 右有空货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posRight);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.Empty;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置右侧有空货架");
            }
        }

        private void 右有满货架ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posRight);
            if (loadInfo != null)
            {
                loadInfo.shelf_type = ShelfType.Full;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置右侧有满货架");
            }
        }

        private void 左货架号toolStripTextBox1_TextChanged(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posLeft);
            if (loadInfo != null)
            {
                loadInfo.shelf_id = 左货架号toolStripTextBox1.Text;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置左侧货架号为{loadInfo.shelf_id}");
            }
        }

        private void 右货架号toolStripTextBox1_TextChanged(object sender, EventArgs e)
        {
            LoadInfo loadInfo = getLoadInfo(posRight);
            if (loadInfo != null)
            {
                loadInfo.shelf_id = 右货架号toolStripTextBox1.Text;
                enableEdit();
                setRobot();
                LogUtil.Info($"{robot?.name ?? ""}机器人手动操作：设置右侧货架号为{loadInfo.shelf_id}");
            }
        }

        void setRobot()
        {
            RobotManager.SetRobot(robot);
        }

        private void robotSetting_DropDownClosed(object sender, EventArgs e)
        {
            canSettting(false);
        }

        private void robotSetting_DropDownOpening(object sender, EventArgs e)
        {
            //FrmPwd fw = new FrmPwd(10);
            //DialogResult result = fw.ShowDialog();
            //if (!result.Equals(DialogResult.OK))
            //{
            //    LogUtil.Warn($"打开机器人{robot.name}设置时，没有正确输入密码");
            //    canSettting(false);
            //    return;
            //}
            canSettting(true);
        }
        void canSettting(bool can)
        {
            自动ToolStripMenuItem.Enabled = can;
            调试ToolStripMenuItem.Enabled = can;
        }
    }
}