using CtuDeviceLib;
using CtuDeviceLib.manager;
using DeviceLibrary;
using Mushiny;
using OnlineStore;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Drawing;
using System.IO;
using System.Runtime.ExceptionServices;
using System.Runtime.Serialization.Formatters.Binary;
using System.Security.Cryptography;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace TheMachine
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            crc.OpenResourceLog = true;
            InitializeComponent();
            LogUtil.logBox = LogText;
            this.FormClosing += Form1_FormClosing;
            this.Text = Setting_Init.App_Title + " " + Setting_Init.Device_CID;
            t1.Interval = 3000;
            t1.Tick += T1_Tick;
            t1.Tick += UpdatePage_from1;
            t1.Start();
            GC.KeepAlive(t1);
        }

        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            //if (tabc.TabCount > tabpagecount)
            //    addTablePage();


            LanguageProcess();
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (e.CloseReason == CloseReason.UserClosing)
            {
                e.Cancel = true;
                this.WindowState = FormWindowState.Minimized;
                return;
            }
            LogUtil.info("系统强制退出应用 step1");
            btn_stop_Click(sender, EventArgs.Empty);
            Thread.Sleep(2000);
            LogUtil.info("系统强制退出应用 step2");
            Application.Exit();
            LogUtil.info("系统强制退出应用 step3");
        }

        SettingControl sc = new SettingControl();

        readonly System.Windows.Forms.Timer t1 = new System.Windows.Forms.Timer();
        private void Form1_Load(object sender, EventArgs e)
        {
            btn_run.Enabled = false;
            //btn_stop.Enabled = false;
            #region 报警信息listview初始化
            listView1.View = View.Details;
            ColumnHeader emptycol = new ColumnHeader();
            emptycol.Text = "";
            emptycol.Width = 0;
            ColumnHeader msgcol = new ColumnHeader();
            msgcol.Text = crc.GetString("Res0047", "信息");
            msgcol.Width = 800;
            ColumnHeader timecol = new ColumnHeader();
            timecol.Text = crc.GetString("Res0048", "时间");
            timecol.Width = 150;
            listView1.Columns.Add(emptycol);
            listView1.Columns.Add(timecol);
            listView1.Columns.Add(msgcol);
            listView1.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            #region 状态信息listview初始化
            stateView.View = View.Details;
            ColumnHeader c1 = new ColumnHeader();
            c1.Text = "";
            c1.Width = 0;
            ColumnHeader c2 = new ColumnHeader();
            c2.Text = crc.GetString("Res0049", "CTU");
            c2.Width = 90;
            ColumnHeader c3 = new ColumnHeader();
            c3.Text = crc.GetString("Res0050", "位置");
            c3.Width = 80;
            ColumnHeader c4 = new ColumnHeader();
            c4.Text = crc.GetString("table_task", "任务名");
            c4.Width = 150;

            ColumnHeader c7 = new ColumnHeader();
            c7.Text = crc.GetString("table_task", "料箱");
            c7.Width = 100;

            ColumnHeader c6 = new ColumnHeader();
            c6.Text = crc.GetString("table_task", "目的地");
            c6.Width = 250;

            ColumnHeader c5 = new ColumnHeader();
            c5.Text = crc.GetString("Res0047", "信息");
            c5.Width = 800;

            stateView.Columns.Add(c1);
            stateView.Columns.Add(c2);
            stateView.Columns.Add(c3);
            stateView.Columns.Add(c4);
            stateView.Columns.Add(c7);
            stateView.Columns.Add(c6);
            stateView.Columns.Add(c5);
            stateView.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            LogUtil.info("开始初始化");
            RobotManager.LoadFinishEvent += RobotManage_LoadFinishEvent;
            RobotManager.UserPauseSet += RobotManage_UserPauseSet;

            RobotManager.Init();

            ListViewItem lvi = new ListViewItem(new string[] { "", DateTime.Now.ToString(), crc.GetString("device_initializing", "加载中,请稍后...") });
            lvi.ForeColor = Color.DarkGreen;
            listView1.Items.Add(lvi);
            pnl.Enabled = false;
        }

        void showInitErrMsg(string msg)
        {
            ListViewItem lvi = new ListViewItem(new string[] { "", DateTime.Now.ToString(), crc.GetString("device_initializing", msg) });
            lvi.ForeColor = Color.Red;
            listView1.Items.Add(lvi);
        }
        private void listView_ColumnWidthChanging(object sender, ColumnWidthChangingEventArgs e)
        {
            e.NewWidth = (sender as ListView).Columns[e.ColumnIndex].Width;
            e.Cancel = true;
        }
        const int tabpagecount = 1;
        void addTablePage()
        {
            AddForm("tab_setting", crc.GetString("tab_setting", "相关设置"), sc);
            crc.LanguageProcess(this);
        }

        private void T1_Tick(object sender, EventArgs e)
        {
            SetState(CTUManager.CTUs);
        }
        ListViewItem lviInletSplitHead = new ListViewItem(new string[] { "", "", "", "已启用CTU", "", "", "" });
        ListViewItem lviDisabledSplitHead = new ListViewItem(new string[] { "", "", "", "未启用CTU", "", "", "" });

        void SetState(List<CTU> ctus)
        {
            if (RobotManager.mainMachine == null)
                return;
            if (Monitor.TryEnter(stateView, 100))
            {
                try
                {
                    this.SuspendLayout();
                    stateView.Items.Clear();

                    var inLetCtus = ctus?.FindAll(s => s.Enabled);
                    var disableCtus = ctus?.FindAll(s => !s.Enabled);
                    stateView.Items.Add(lviInletSplitHead);
                    showStateMsg(inLetCtus);
                    stateView.Items.Add(lviDisabledSplitHead);
                    showStateMsg(disableCtus);
                }
                catch (Exception ex)
                {

                }
                finally
                {
                    this.ResumeLayout(true);
                    Monitor.Exit(stateView);
                }
            }


        }
        void showStateMsg(List<CTU> ctus)
        {
            if (ctus == null || ctus.Count == 0) return;
            foreach (CTU ctu in ctus)
            {
                var stateinfo = ctu.GetStateStr();
                if (!RobotManager.isRunning)
                    stateinfo = crc.GetString("Res0051", "未启动");
                string dst = "";
                if (ctu.CtuTask != null)
                {
                    if (!string.IsNullOrEmpty(ctu.CtuTask?.DstName))
                        dst = $"{ctu.CtuTask?.DstName}[{ctu.CtuTask?.destination}]";
                }
                ListViewItem lvi = new ListViewItem(new string[] { "", $"{ctu.Name}[{ctu.SOC}%]", ctu.CurLandMark.ToString(), ctu.CtuTask?.Name, ctu.CtuTask?.boxCode, dst, stateinfo });
                if (ctu.Enabled || ctu.IsDebug)
                {
                    if (ctu.RunState == DeviceLibrary.CtuService.RunState.Offline)
                    {
                        lvi.BackColor = Color.Red;
                    }
                    else if (ctu.RunState == DeviceLibrary.CtuService.RunState.Online)
                    {
                        lvi.BackColor = Color.Yellow;
                    }
                    else if (ctu.RunState == DeviceLibrary.CtuService.RunState.Executing)
                    {
                        lvi.BackColor = Color.LightBlue;
                    }
                }
                else
                {
                    lvi.BackColor = Color.Gray;
                }
                stateView.Items.Add(lvi);
            }
        }
        private void AddForm(string id, string text, UserControl form)
        {
            foreach (TabPage tp in tabc.TabPages)
            {
                if (tp.Name == id)
                {
                    tp.Text = text;
                    return;
                }
            }

            TabPage lineTabPage = new TabPage(text);
            lineTabPage.Name = id;
            Panel linePan = new Panel();
            linePan.Dock = DockStyle.Fill;
            linePan.AutoScroll = true;
            lineTabPage.Controls.Add(linePan);
            linePan.Controls.Add(form);
            form.Dock = DockStyle.Fill;
            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Show();
            tabc.TabPages.Add(lineTabPage);
        }

        private void 启用调试模式ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            RobotManager.IsConfigMode = RobotManager.IsConfigMode ? false : true;
            (sender as ToolStripMenuItem).Text = !RobotManager.IsConfigMode ? crc.GetString("enable_config_mode", "启用配置模式") : crc.GetString("disable_config_mode", "停用配置模式");
            if (RobotManager.IsConfigMode)
            {
                addTablePage();
            }
            else
            {
                var tc = tabc.TabPages.Count;
                for (int i = 1; i <= tabpagecount; i++)
                {
                    var str = tabc.TabPages[tc - i].Text;
                    var str_1 = crc.GetString("Form1_tabc_tabPage1_Text", "详情信息");
                    if (str != str_1)
                    {
                        tabc.TabPages[tc - i].Parent = null;
                    }
                }
            }
        }

        public delegate void setmsgdelegate(List<Msg> msgs);
        private void MainMachine_ProcessMsgEvent(List<Msg> msgs)
        {
            if (!this.IsHandleCreated) return;
            if (msgs == null)
                return;
            try
            {
                var d = new setmsgdelegate(SetMsg);
                this.Invoke(d, msgs);
            }
            catch (Exception e)
            {
                LogUtil.info("MainMachine_ProcessMsgEvent:" + e.ToString());
            }
        }

        private void RobotManage_LoadFinishEvent(bool state, string msg)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler)delegate
                {
                    RobotManage_LoadFinishEvent(state, msg);
                });
                return;
            }
            启用调试模式ToolStripMenuItem.Enabled = true;
            pnl.Enabled = true;
            if (state)
            {

                //btn_stop.Enabled = true;
                if (!btn_run.Enabled)
                {
                    RobotManager.mainMachine.ProcessMsgEvent += MainMachine_ProcessMsgEvent;
                }
                btn_run.Enabled = true;
            }

            var lm = new List<Msg>();
            foreach (string ms in msg.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries))
            {
                var m = new Msg();
                m.datetime = DateTime.Now;
                m.msgtxt = ms;
                m.msgLevel = state ? MsgLevel.info : MsgLevel.warning;
                lm.Add(m);
            }
            SetMsg(lm);
        }
        object showMsgLoc = new object();
        void SetMsg(List<Msg> msgs)
        {
            if (Monitor.TryEnter(showMsgLoc))
            {
                try
                {
                    this.SuspendLayout();
                    listView1.Items.Clear();
                    foreach (Msg msg in msgs)
                    {
                        if (string.IsNullOrEmpty(msg.msgtxt) || msg.datetime == null)
                            continue;

                        ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
                        if (msg.msgLevel == MsgLevel.info)
                            lvi.ForeColor = Color.DarkGreen;
                        else
                            lvi.ForeColor = Color.Red;
                        listView1.Items.Add(lvi);
                        //if (msg.errInfo == ErrInfo.X09_BoxNotDetect)
                        //{
                        //    RobotManage.mainMachine.ShowIgnoreFixtureAlarm = true;
                        //    if (btn_IgnoreX09.Visible) continue;
                        //    btn_IgnoreX09.Invoke(new Action(() =>
                        //    {
                        //        btn_IgnoreX09.Visible = true;
                        //    }));

                        //}
                        //else if (msg.errInfo == ErrInfo.X09_Clear)
                        //{
                        //    RobotManage.mainMachine.ShowIgnoreFixtureAlarm = false;
                        //    if (!btn_IgnoreX09.Visible) continue;
                        //    btn_IgnoreX09.Invoke(new Action(() =>
                        //    {
                        //        btn_IgnoreX09.Visible = false;
                        //    }));
                        //}
                        //else if (msg.errInfo == ErrInfo.RunBtn)// || msg.errInfo == ErrInfo.ResetBtn)
                        //{
                        //    Task.Run(() =>
                        //    {
                        //        Task.Delay(1000).Wait();
                        //        if (!RobotManage.isRunning || RobotManage.IsUserPause)
                        //            btn_run_Click(this, EventArgs.Empty);
                        //    });

                        //}
                        //else if (msg.errInfo == ErrInfo.SuddenStop)
                        //{
                        //    Task.Run(() =>
                        //    {
                        //        if (RobotManage.isRunning)
                        //            btn_stop_Click(this, EventArgs.Empty);
                        //    });

                        //}
                    }
                    this.ResumeLayout(true);
                }
                finally
                { Monitor.Exit(showMsgLoc); }
            }

        }

        bool userpause = false;


        private void btn_run_Click(object sender, EventArgs e)
        {


            if (!RobotManager.isRunning)
            {
                listView1.Items.Clear();
                var enableCtus = CTUManager.GetEnabledCTUs();
                if (enableCtus != null && enableCtus.Count > 0)
                {
                    bool ctuIsInError = false;
                    foreach (var ctu in enableCtus)
                    {
                        if (ctu.CurLandMark == 0)
                        {
                            ctuIsInError = true;
                            showInitErrMsg($"已启用的[{ctu.Name}]未复位,不允许启动");
                        }
                        else if (ctu.CurLandMark == 10001)
                        {
                            ctuIsInError = true;
                            showInitErrMsg($"已启用的[{ctu.Name}]在辅助码,不允许启动");
                        }
                    }
                    if (ctuIsInError)
                    {
                        return;
                    }
                }

                RobotManager.Start();
                userpause = false;
                if (RobotManager.isRunning)
                {
                    btn_stop.Enabled = true;
                    RobotManage_UserPauseSet(this, false);
                    //(sender as Button).Text = "暂停运行";
                }
                LogUtil.info("用户按下启动");
                return;
            }
            //else if (!userpause)
            //{
            //    userpause = true;
            //    RobotManager.UserPause("用户按下暂停1", userpause);
            //}
            //else if (userpause)
            //{
            //    userpause = false;
            //    RobotManager.UserPause("用户取消暂停2", userpause);
            //}
            btn_stop.Enabled = true;
        }
        private void RobotManage_UserPauseSet(object sender, bool e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler<bool>)delegate
                {
                    RobotManage_UserPauseSet(sender, e);
                }, sender, e);
                return;
            }

            if (e)
            {
                userpause = true;
                (btn_run).Text = crc.GetString("device_resume", "恢复运行");
                (btn_run).BackColor = Color.LightGreen;
            }
            else
            {
                userpause = false;
                btn_run.Text = crc.GetString("device_pause", "暂停运行");
                (btn_run).BackColor = Color.Yellow;
            }

        }
        private void btn_stop_Click(object sender, EventArgs e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler)delegate
                {
                    btn_stop_Click(sender, e);
                }, sender, e);
                return;
            }
            if (!btn_stop.Enabled)
                return;
            btn_stop.Enabled = false;
            Task.Run(() => { RobotManager.Stop(); });
            RobotManager.UserPause("停止按钮", false);
            userpause = false;
            btn_run.Text = crc.GetString("start", "启动");
            btn_run.BackColor = Color.Transparent;
        }

        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (RobotManager.isRunning)
            {
                MessageBox.Show(crc.GetString("device_isrunning_cant_exit", "机器尚在运行,不能退出,请先停止运行."));
            }
            else
            {
                RobotManager.ShutDown();
                System.Diagnostics.Process.GetCurrentProcess().Kill();
                this.Close();
            }
        }
        private void 关于ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            AboutBox1 aboutBox1 = new AboutBox1();
            aboutBox1.ShowDialog();
        }

        private void btn_PauseBuzzer_Click(object sender, EventArgs e)
        {
            // AlarmBuzzer.MuteOnce();
        }

        private void pictureBox1_DoubleClick(object sender, EventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
            else
            {
                obj.BringToFront();
                obj.Dock = DockStyle.Fill;
            }
        }

        private void pictureBox1_MouseDown(object sender, MouseEventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
        }

        [HandleProcessCorruptedStateExceptions]
        public static T DeepClone<T>(T _object)
        {
            try
            {
                T dstobject;
                using (MemoryStream mStream = new MemoryStream())
                {
                    BinaryFormatter bf = new BinaryFormatter();
                    bf.Serialize(mStream, _object);
                    mStream.Seek(0, SeekOrigin.Begin);//指定当前流的位置为流的开头。
                    dstobject = (T)bf.Deserialize(mStream);
                    mStream.Close();
                }
                return dstobject;
            }
            catch (Exception e)
            {
                LogUtil.info("GetStringCenterA" + e.ToString());
                return default;
            }
        }

        private void Form1_Shown(object sender, EventArgs e)
        {
            LanguageProcess();
        }
        void LanguageProcess()
        {
            crc.LanguageProcess(this, this.GetType().Name);
            crc.ProcessListItem(menuStrip1.Items, "menuStrip1");

            listView1.Columns[1].Text = crc.GetString("table_datetime", "时间");
            listView1.Columns[2].Text = crc.GetString("table_info", "信息");

            stateView.Columns[1].Text = crc.GetString("table_module", "CTU");
            stateView.Columns[2].Text = crc.GetString("table_step", "位置");
            stateView.Columns[3].Text = crc.GetString("table_task", "任务名");
            stateView.Columns[4].Text = crc.GetString("table_task", "料箱");
            stateView.Columns[5].Text = crc.GetString("table_task", "目的地");
            stateView.Columns[6].Text = crc.GetString("table_info", "信息");

            启用调试模式ToolStripMenuItem.Text = !RobotManager.IsConfigMode ? crc.GetString("enable_config_mode", "启用配置模式") : crc.GetString("disable_config_mode", "停用配置模式");

            btn_run.Text = crc.GetString("start", "启动");

            if (RobotManager.isRunning)
            {
                if (userpause)
                    (btn_run).Text = crc.GetString("device_resume", "恢复运行");
                else
                    (btn_run).Text = crc.GetString("device_pause", "暂停运行");
            }
        }

        DateTime lastUpdateLimit = DateTime.Now;
        object reFreshMap = new object();

        /// <summary>
        /// 刷新地图
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        public void UpdatePage_from1(object sender, EventArgs e)
        {
            if (Monitor.TryEnter(reFreshMap, 300))
            {
                //bool refreshMap = ConfigAppSettings.GetValue("Enable_RefreshMap", false);
                //if (!refreshMap) return;
                try
                {
                    foreach (var item in CTUManager.GetCTUs())
                    {
                        try
                        {
                            if (item.CurLandMark == 0) continue;
                            if (item.CurLandMark == 10001) continue;
                            if (item.CtuTask == null)
                            {
                                uC_AGVMap1.Update_CTU(item.Name, item.CurLandMark, new List<uint>(), new List<uint>(),
                                    new List<uint>(item.UsedPoint), Color.DarkBlue, Color.DarkGreen, Color.DarkGray, Color.Yellow, item.RobotState.ToString());
                            }
                            else
                            {
                                var planedPoints = new List<uint>();
                                var curPoints = new List<uint>();
                                item.CtuTask.CurRunningPoints?.ForEach(s => curPoints.Add(s.Id));
                                item.CtuTask.planedPoints?.ForEach(s => planedPoints.Add(s.Id));
                                uC_AGVMap1.Update_CTU(item.Name, item.CurLandMark, planedPoints, curPoints,
                                     new List<uint>(item.UsedPoint), Color.DarkBlue, Color.DarkGreen, Color.DarkGray, Color.Yellow, item.RobotState.ToString());
                            }
                        }
                        catch (Exception ex)
                        {

                        }

                    }

                }
                catch (Exception ex)
                {
                    LogUtil.MapLog.Error($"更新地图信息失败：{ex.ToString()}");
                }
                finally
                {
                    Monitor.Exit(reFreshMap);
                }
            }

        }


        private void button8_Click(object sender, EventArgs e)
        {
            LogText.Text = null;
        }

        private void button9_Click(object sender, EventArgs e)
        {
            try
            {
                string baseDirectory = AppDomain.CurrentDomain.BaseDirectory;
                string pathNmae = baseDirectory + "NGDetails";
                if (!Directory.Exists(pathNmae))
                {
                    Directory.CreateDirectory(pathNmae);
                }
                string fileName = "NG详情-" + DateTime.Now.ToString("yyyy-MM-dd_HH-mm-ss") + ".txt";
                string filePath = Path.Combine(pathNmae, fileName);
                if (string.IsNullOrWhiteSpace(LogText.Text))
                {
                    MessageBox.Show($"无数据保存失败！");
                }
                else
                {
                    ConfigHelper.Config.FileSave(LogText.Text, filePath);
                    MessageBox.Show($"保存成功-{filePath}");
                }

            }
            catch (Exception ex)
            {
                MessageBox.Show($"保存失败，请手动保存NG详情！原因：{ex}");
            }
        }

        private void SetLogText_event(object sender, string e)
        {
            this.Invoke((EventHandler<string>)delegate
            {
                LogText.Text += $"{DateTime.Now.ToString("HH:mm:ss")}  {e}{Environment.NewLine}";
            }, sender, e);
        }

        private void chbReadyUpdate_CheckedChanged(object sender, EventArgs e)
        {
            RobotManager.IsReadyUpdate = chbReadyUpdate.Checked;
        }

        private void 地码维护ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            ConveyorLine.FrmPointCode frmPointCode = new ConveyorLine.FrmPointCode();
            frmPointCode.Show();
        }

        private void uC_AGVMap1_MouseDoubleClick(object sender, MouseEventArgs e)
        {
            try
            {
                //  if ((DateTime.Now - lastUpdateLimit).TotalMinutes > 1)
                {
                    foreach (var item in CTUManager.localLimitAreas)
                    {
                        uC_AGVMap1.Update_LimitArea(item.PointCodes, Color.LightYellow);
                    }
                    if (HttpManager.GetLimitAreas(out List<LimitAreaInfo> limits))
                    {
                        foreach (var area in limits)
                        {
                            if (area.Enabled)
                                uC_AGVMap1.Update_LimitArea(area.CtuPointCodes, Color.LightYellow);
                        }
                    }
                    lastUpdateLimit = DateTime.Now;
                }
            }
            catch (Exception ex)
            {


            }
        }
    }
}