using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml;
using Common;
using DeviceLibrary.manager;

namespace DeviceLibrary
{
    public class Agv_Info
    {
        /// <summary>
        /// 小车名称
        /// </summary>
        public string Name { set; get; }
        /// <summary>
        /// 小车在FLEET中的ID号
        /// </summary>
        public string ID { set; get; }
        /// <summary>
        /// IP地址
        /// </summary>
        public string IP { set; get; }
        /// <summary>
        /// IO模块GUID
        /// </summary>

        /// <summary>
        /// 授权码
        /// </summary>
        public string Authorization { set; get; }
        /// <summary>
        /// 责任区域
        /// </summary>
        public List<Area> ResponsAreas { get; set; }
        /// <summary>
        /// 是否在线
        /// </summary>
        public bool IsCon
        {
            set
            {
                if (!value.Equals(isCon))
                {
                    isCon = value;
                    StateKanban.SetConnectState(isCon);
                }
            }
            get { return isCon; }
        }
        private bool isCon = false;

        public bool IsInCharge { get; set; }
        /// <summary>
        /// 是否可用
        /// </summary>
        private bool _IsUse = true;
        public bool IsUse
        {
            set
            {
                if (!value.Equals(_IsUse))
                {
                    _IsUse = value;
                    XmlConfigOpManager.SetAgvIsUse(this);
                }
            }
            get { return _IsUse; }
        }
        /// <summary>
        /// 地点
        /// </summary>
        public Node Place { set; get; }

        /// <summary>
        /// 小车的状态ID，（从小车获取）
        /// </summary>
        public eAGVState StateID { set; get; }

        /// <summary>
        /// 负载
        /// </summary>
        public bool IsExistShelf { set; get; } = false;

        /// <summary>
        /// 电量百分比，（从小车获取）
        /// </summary>
        public int Battery { set; get; }
        /// <summary>
        /// 当前任务文本，（从小车获取）
        /// </summary>
        public string MissionText { set; get; } = "";


        public class MirPosition
        {
            public float orientation { get; set; }
            public PointF Point;

        }
        /// <summary>
        /// 当前位置
        /// </summary>
        public MirPosition Position;

        /// <summary>
        /// 任务内容
        /// </summary>
        public string Msg
        {
            get;
            set;
        } = "";
        /// <summary>
        /// 当前任务
        /// </summary>
        public Job CurJob { get; set; }

        /// <summary>
        /// 使用Fleet发任务
        /// </summary>
        public bool UseFleet { get; set; }
        /// <summary>
        /// 任务运行状态
        /// </summary>
        public TaskRunState TaskRunState;
        /// <summary>
        /// 错误消息
        /// </summary>
        public string ErrorMsg { get; set; } = "";
        public string ErrorLastTime { get; set; } = "";
        public List<IOInfo> IOStatus;
        /// <summary>
        /// Agv是否空闲
        /// </summary>
        /// <returns></returns>
        public bool IsIdle()
        {
            if (Battery <= ChargePileManager.GetChargePiles().BatteryMin)
            {
                return false;
            }
            else
            {
                if (CurJob == null || ((CurJob is ChargeJob || CurJob is StandyJob) && !IsExistShelf))
                    return true;
                else
                    return false;
            }

        }
        /// <summary>
        /// 任务期间是否有错误
        /// </summary>
        public bool HasError { get; set; } = false;
        public DateTime errStartTime = DateTime.Now;
        public void SetErrorMsg(string msg, string lastTime)
        {
            if (ErrorMsg.Equals(""))
            {
                ErrorMsg = msg;
                ErrorLastTime = lastTime;
                errStartTime = DateTime.Now;
            }
        }
        public void ClearErrorMsg()
        {
            ErrorLastTime = "";
            ErrorMsg = "";
        }
        /// <summary>
        /// 任务重发
        /// </summary>
        public void Resend()
        {
            if (CurJob != null)
            {
                CurJob.ResendTask(this);

            }
        }
        public override bool Equals(object obj)
        {
            Agv_Info agv = obj as Agv_Info;
            if (agv == null)
                return false;
            else
            {
                if (this.ID.Equals(agv.ID))
                    return true;
            }
            return false;
        }
        /// <summary>
        /// 停在同一处超时
        /// </summary>
        public bool StandTimeOut { get; set; } = false;
        public AGV_UI.Status StateKanban;
        public Agv_Info(string id, string name, string ip, string authorization, bool isUse)
        {
            ID = id;
            Name = name;
            IP = ip;
            Authorization = authorization;
            IsCon = false;
            _IsUse = isUse;
            Place = new Node();
            Msg = "";
            Position = new MirPosition();
            RunInfos = new List<string>() { "状态", "目的地", "RFID", "负载", "运行模式", "任务信息", "AGV运行信息" };
            StateKanban = new AGV_UI.Status(name, RunInfos);
        }
        public Agv_Info()
        {
            Place = new Node();
            Msg = "";
            Position = new MirPosition();
            RunInfos = new List<string>() { "状态", "目的地", "RFID", "负载", "运行模式", "任务信息", "AGV运行信息" };
            StateKanban = new AGV_UI.Status(RunInfos);
            IOStatus = new List<IOInfo>();
            TaskRunState = new TaskRunState();
        }
        public List<string> RunInfos;
        DateTime IoStartTime = DateTime.MaxValue;
        int IoLastTime = 5000;
        int StandLastTimeMinute = AppConfigHelper.GetIntValue(SettingString.StandTimeout);
        public DateTime StandStartTime = DateTime.MaxValue;
        public bool SetState(eAGVState stateID, int battery, string missionText, MirPosition position)
        {
            bool isChange = false;
            bool preShelfState = IsExistShelf;
            bool reachIoValue = GetInput(0, 3).Equals(true);
            if (reachIoValue)
            {
                //满足给定的IO值，计算持续时间
                if (IoStartTime == DateTime.MaxValue)
                {
                    IoStartTime = DateTime.Now;
                }


                if (IoLastTime > 0)
                {
                    //持续时间
                    TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
                    IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
                }
                else
                {
                    IsExistShelf = false;
                }
            }
            else
            {
                //重新计时
                IoStartTime = DateTime.MinValue;
                IsExistShelf = false;
            }

            if (!StateID.Equals(stateID) || !Battery.Equals(battery)
                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                isChange = true;
            if (!StateID.Equals(stateID))
            {
                StateID = stateID;
                StateKanban.ShowInfo("状态", stateID.ToString());
            }

            StateKanban.SetCurState(TaskRunState.TaskState);
            if (!Battery.Equals(battery))
            {
                Battery = battery;
                StateKanban.SetBattery(battery, IsInCharge);
            }

            if (!IsExistShelf.Equals(preShelfState))
            {
                StateKanban.ShowInfo("负载", IsExistShelf ? "满载" : "空载");
            }


            if (!MissionText.Equals(missionText))
            {
                MissionText = missionText;
                StateKanban.ShowInfo("AGV运行信息", missionText);
            }
            CheckErrorState();
            CheckOfflineTimeOut();
            CheckStandTimeOut(position);
            UpdateDisplayBoard();
            return isChange;
        }
        public void SetKanban()
        {
            StateKanban.ShowInfo("目的地", Place == null ? "" : Place.AliceName);
            StateKanban.ShowInfo("运行模式", IsUse ? "自动" : "手动");
            if (CurJob != null && CurJob.JobParam.Shelf != null)
                StateKanban.ShowInfo("RFID", CurJob.JobParam.Shelf.RFID);
            if (this.CurJob != null)
            {
                Msg = this.CurJob.runInfo;
                StateKanban.ShowInfo("任务信息", this.CurJob.RunInfo);
            }
        }
        DateTime agvErrorStartTime = DateTime.MaxValue;
        DateTime offlineStartTime = DateTime.MaxValue;
        bool errorState = false;
        int OfflineLastTimeSeconds = 30;
        /// <summary>
        /// 检查小车是否报错
        /// </summary>
        /// <returns></returns>
        private void CheckErrorState()
        {

            if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
            {
                //满足条件，计算持续时间
                if (agvErrorStartTime == DateTime.MaxValue)
                {
                    agvErrorStartTime = DateTime.Now;
                }
                TimeSpan lastTimeSpan = DateTime.Now - agvErrorStartTime;
                errorState = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
            }
            else
            {
                errorState = false;
                if ((DateTime.Now - agvErrorStartTime).TotalSeconds > OfflineLastTimeSeconds)
                    agvErrorStartTime = DateTime.Now;
            }
        }
        /// <summary>
        /// 离线超时
        /// </summary>
        private bool offlineTimeOut = false;
        /// <summary>
        /// 检查小车是否离线超时
        /// </summary>
        /// <returns></returns>
        private void CheckOfflineTimeOut()
        {
            if (CurJob != null && !(CurJob is ChargeJob) && !IsCon)
            {
                //满足条件，计算持续时间
                if (offlineStartTime == DateTime.MaxValue)
                {
                    offlineStartTime = DateTime.Now;
                }
                TimeSpan lastTimeSpan = DateTime.Now - offlineStartTime;
                offlineTimeOut = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
            }
            else
            {
                offlineTimeOut = false;
                if ((DateTime.Now - offlineStartTime).TotalSeconds > OfflineLastTimeSeconds)
                    //LogUtil.error(string.Format("{0} 在{1}离线{2}秒", Name, PlaceAliceName, (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2")));
                    offlineStartTime = DateTime.Now;
            }
        }

        /// <summary>
        /// 获取IO输入状态
        /// </summary>
        /// <param name="ioidx">IO序号</param>
        /// <param name="port">IO端口</param>
        /// <returns></returns>
        public bool GetInput(int ioidx, int port)
        {
            if (ioidx >= IOStatus.Count)
                return false;
            if (IOStatus[ioidx] == null || IOStatus[ioidx].Inputs == null)
                return false;
            if (port >= IOStatus[ioidx].Inputs.Length)
                return false;
            return IOStatus[ioidx].Inputs[port];
        }

        /// <summary>
        /// 获取IO输出状态
        /// </summary>
        /// <param name="ioidx">IO序号</param>
        /// <param name="port">IO端口</param>
        /// <returns></returns>
        public bool GetOutput(int ioidx, int port)
        {
            if (ioidx >= IOStatus.Count)
                return false;
            if (IOStatus[ioidx] == null || IOStatus[ioidx].Outputs == null)
                return false;
            if (port >= IOStatus[ioidx].Outputs.Length)
                return false;
            return IOStatus[ioidx].Outputs[port];
        }
        /// <summary>
        /// 检查小车是否在原地停留超时
        /// </summary>
        /// <returns></returns>
        private void CheckStandTimeOut(MirPosition position)
        {
            if (this.Place.Type.Equals(NodeType.AutoCharge) || this.Place.Type.Equals(NodeType.Standby))
            {
                StandTimeOut = false;
                StandStartTime = DateTime.Now;
            }
            else
            {
                if (IsUse && CurJob != null)
                {
                    if (Math.Abs(position.Point.X - Position.Point.X) < 0.5 && Math.Abs(position.Point.Y - Position.Point.Y) < 0.5)
                    {
                        //满足条件，计算持续时间
                        if (StandStartTime == DateTime.MaxValue)
                        {
                            StandStartTime = DateTime.Now;
                        }
                        TimeSpan lastTimeSpan = DateTime.Now - StandStartTime;
                        StandTimeOut = (lastTimeSpan.TotalMinutes >= StandLastTimeMinute);
                    }
                    else
                    {
                        //重新计时
                        StandStartTime = DateTime.Now;
                        StandTimeOut = false;

                    }
                }
                else
                {
                    StandTimeOut = false;
                    StandStartTime = DateTime.Now;
                }
            }

            Position = position;
        }
        private void UpdateDisplayBoard()
        {
            bool isAlarm = false;
            List<AlarmMsg> msglist = new List<AlarmMsg>();
            try
            {
                if (offlineTimeOut)
                {
                    isAlarm = true;
                    SetErrorMsg("在" + Place.AliceName + "离线", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
                    msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "在" + Place.AliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒"));
                }
                if (!isAlarm && errorState)
                {
                    isAlarm = true;
                    SetErrorMsg("状态:" + StateID.ToString(), (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
                    msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "状态:" + StateID.ToString()));
                }

                if (!isAlarm && StandTimeOut)
                {
                    isAlarm = true;
                    SetErrorMsg("在" + Place.AliceName + "停留超时", (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2"));
                    msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "在" + Place.AliceName + "停留超时" + (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
                }
                else if (!isAlarm && HasError)
                {
                    isAlarm = true;
                    msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", Msg));
                }

                if (!isAlarm)
                {
                    try
                    {
                        if (!ErrorMsg.Equals(""))//异常消除后正常，打印异常
                        {
                            AGVManager.ErrorLogRecord(new ErrorInfo(this));
                            ClearErrorMsg();
                        }
                        if ((Place.Type.Equals(NodeType.Standby) || Place.Type.Equals(NodeType.AutoCharge)))
                        {
                            msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Place", Place.Type.ToString(), 1));
                        }
                        else
                        {
                            msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", Msg, 1));
                        }
                    }
                    catch (Exception ex)
                    {
                        Common.LogUtil.error(Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
                    }
                }
                HttpManager.updateDeviceAlarmMsg(msglist);
            }
            catch (Exception ex)
            {
                LogUtil.error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
            }
        }
    }

    public class IOInfo
    {
        public string IOID { set; get; }
        public bool[] Inputs;
        public bool[] Outputs;
    }
}