using Mushiny.Model.Pkg;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Mail;
using System.Runtime.Versioning;
using System.Text;
using System.Threading.Tasks;

namespace Mushiny.Model
{
    /// <summary>
    /// AGV->RCS
    /// 登录数据包：上电后主动发送，或者受到重新登陆命令包（也即激活包）后继续发送
    /// </summary>
    internal class LoginDataPkg : PkgData
    {
        public LoginDataPkg() : base()
        {
        }
        /// <summary>
        /// 车型
        /// 0x10: 单深位
        //0x20: 双深位
        //0x30: 双深位带可调宽度 300~400mm
        //0x31: 双深位带可调宽度 450~700mm
        /// </summary>
        public byte RobotType { get; set; }
        /// <summary>
        /// 功能选项
        /// bit0: RFID射频卡使能
        /// bit1: 货叉避障使能
        /// </summary>
        public byte FuncOption { get; set; }
        /// <summary>
        /// 保留
        /// </summary>
        public byte[] Reserved { get; set; } = new byte[2];
        /// <summary>
        /// 设备类型
        /// 0x01:堆高车
        //0x02:重载车
        //0x03:潜伏车
        //0x04:分拣车
        //0x05:料箱机器人
        /// </summary>
        public byte DeviceType { get; set; }

        /// <summary>
        /// 硬件版本
        /// 十进制20表示V2.0
        /// </summary>
        public byte[] HardwareVer { get; set; }
        /// <summary>
        /// 出厂日期
        /// 0x20190101表示2019年1月1日
        /// </summary>
        public byte[] MFD { get; set; }
        /// <summary>
        /// 软件版本号
        /// </summary>
        public byte[] SoftVer { get; set; }
        /// <summary>
        /// 发布日期
        /// 0x20190101表示2019年1月1日
        /// </summary>
        public byte[] ReleaseDate { get; set; }
        /// <summary>
        /// 累计工作时间
        /// 单位秒
        /// </summary>
        public uint LastWorkTime { get; set; }
        /// <summary>
        /// 累计行走距离
        /// 单位 米
        /// </summary>
        public uint LastRunDis { get; set; }
        /// <summary>
        /// 电池信息
        /// </summary>
        public Battery Battery { get; set; }
        /// <summary>
        /// 位置信息
        /// </summary>
        public Location Location { get; set; }
        /// <summary>
        /// 当前状态
        /// </summary>
        public byte CurState { get; set; }
        /// <summary>
        /// 故障标志位
        /// </summary>
        public uint FaultFlag { get; set; }
        /// <summary>
        /// 入侵检测次数
        /// </summary>
        public byte IntrusionDetectNum { get; set; }
        /// <summary>
        /// 等待料仓信息同步标志
        /// =1表示需要等待
        /// </summary>
        public byte WaitStoreSyncFlag { get; set; }
        /// <summary>
        /// 料仓层数
        /// </summary>
        public byte SroreRows { get; set; }
        /// <summary>
        /// 模块
        /// 模块ID定义
        /// 0x01: 第二主控(上主控)
        //0x02: 摄像头模组1
        //0x03: 摄像头模组2
        //0x04: IMU惯导模块1
        //0x05: 预留
        //0x06: 行走左轮电机
        //0x07: 行走右轮电机
        //0x08: 升降电机
        //0x09: 旋转电机
        //0x0A: 伸缩电机
        /// </summary>
        public List<MushineModule> Modules { get; set; }
        /// <summary>
        /// 解析
        /// </summary>
        /// <param name="bytes"></param>
        /// <returns></returns>
        public override bool Parse(byte[] bytes)
        {
            bool result = false;
            try
            {
                if(base.Parse(bytes))
                {
                    if(bytes.Length<66)
                    {
                        return false;
                    }
                    RobotType = Common.GetSubBytes(bytes, 12, 1)[0];
                    FuncOption = Common.GetSubBytes(bytes, 13, 1)[0];
                    DeviceType = Common.GetSubBytes(bytes, 16, 1)[0];
                    HardwareVer = Common.GetSubBytes(bytes, 17, 2);
                    MFD = Common.GetSubBytes(bytes, 19, 4);
                    SoftVer = Common.GetSubBytes(bytes, 23, 4);
                    ReleaseDate = Common.GetSubBytes(bytes, 27, 4);
                    LastWorkTime = Common.ConvertToUInt(Common.GetSubBytes(bytes, 31, 4));
                    LastRunDis = Common.ConvertToUInt(Common.GetSubBytes(bytes, 35, 4));
                    Battery = new Battery();
                    Battery.Type = Common.GetSubBytes(bytes, 39, 1)[0];
                    Battery.MaxChargeCurrent = Common.ConvertToUshort(Common.GetSubBytes(bytes, 40, 2));
                    Battery.Voltage = Common.ConvertToUshort(Common.GetSubBytes(bytes, 42, 2));
                    Battery.SOC = Common.GetSubBytes(bytes, 44, 1)[0];
                    Battery.SOH = Common.GetSubBytes(bytes, 45, 1)[0];
                    Location = new Location();
                    Location.AddrCode = Common.ConvertToUInt(Common.GetSubBytes(bytes,46,4));
                    Location.AddrShiftX = Common.ConvertToUshort(Common.GetSubBytes(bytes, 50, 2));
                    Location.AddrShiftY= Common.ConvertToUshort(Common.GetSubBytes(bytes, 52, 2));
                    Location.AddrShiftTheta = Common.ConvertToFloat(Common.GetSubBytes(bytes, 54, 4));

                    CurState = Common.GetSubBytes(bytes, 58, 1)[0];
                    FaultFlag = Common.ConvertToUInt(Common.GetSubBytes(bytes, 59, 4));
                    IntrusionDetectNum = Common.GetSubBytes(bytes, 63, 1)[0];
                    WaitStoreSyncFlag = Common.GetSubBytes(bytes, 64, 1)[0];
                    SroreRows = Common.GetSubBytes(bytes,65, 1)[0];
                    result = true;
                }
                else
                {
                    result = false;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            return result;
        }
    }

    public class Location
    {
        /// <summary>
        /// 地址码ID
        /// </summary>
        public uint AddrCode { get; set; }
        /// <summary>
        /// 地址码偏移X
        /// </summary>
        public ushort AddrShiftX { get; set; }
        /// <summary>
        /// 地址码偏移Y
        /// </summary>
        public ushort AddrShiftY { get; set; }
        /// <summary>
        /// 地址码偏移θ
        /// </summary>
        public float AddrShiftTheta { get; set; }
    }
    /// <summary>
    /// 牧星模块
    /// </summary>
    public class MushineModule
    {
        /// <summary>
        /// 模块ID
        /// </summary>
        public byte ModuleID { get; set; }
        /// <summary>
        /// 硬件版本
        /// </summary>
        public ushort HardwareVer { get; set; }
        /// <summary>
        /// 软件版本
        /// </summary>
        public ushort SoftwareVer { get; set; }
    }
}