using HalconDotNet;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.Common.util;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Net;
using System.Reflection;
using System.Security.Policy;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TrackBar;

namespace DeviceLibrary
{
    public class ServerCommunication
    {
        volatile StoreStatus _storeStatus = StoreStatus.Debugging;
        public StoreStatus storeStatus
        {
            get => _storeStatus;
            set
            {
                if (_storeStatus != value)
                    LogUtil.info($"set storeStatus to {value}");
                _storeStatus = value;
            }
        }
        static string server = ConfigHelper.Config.Get("http_server", "http://192.168.1.123:8800/");
        static string CID = ConfigHelper.Config.Get("CID");
        int StoreID = 1;
        string StoreName = "";

        string WarnMsg = "";
        private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();

        object serverclock = new object();
        public ServerCommunication()
        {
            serverConnectTimer.Interval = 1000;
            serverConnectTimer.AutoReset = true;
            serverConnectTimer.Enabled = true;
            serverConnectTimer.Elapsed += ServerConnectTimer_Elapsed;
            GC.KeepAlive(serverConnectTimer);
            LogUtil.info($"server:{server},cid:{CID}");
        }

        private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            if (!server.StartsWith("http"))
                return;
            SendLineStatus();
        }
        public void StartConnectServer()
        {
            serverConnectTimer.Enabled = true;
        }
        public void StopConnectServer()
        {
            serverConnectTimer.Enabled = false;
        }
        /// <summary>
        /// 获取整个料仓的状态
        /// </summary>
        Operation getLineBoxStatus()
        {
            //构建发送给服务器的对象
            Operation lineOperation = new Operation();
            lineOperation.msg = "";
            lineOperation.alarmList = new List<AlarmInfo>();
            lineOperation.cid = CID;
            lineOperation.seq = ConfigAppSettings.nextSeq();
            lineOperation.status = 1;

            lineOperation.data = new Dictionary<string, string>();
            //lineOperation.data = lineOperation.data.Concat(GetAgvBtnStatus()).ToDictionary(x => x.Key, v => v.Value);
            lineOperation.status = (int)storeStatus;

            BoxStatus boxStatus = new BoxStatus();
            boxStatus.boxId = StoreID;
            //状态
            boxStatus.status = (int)storeStatus;


            string sendmsg = "";

            if (commandResultMsg.Count() > 0)
            {
                if (commandResultMsg.TryDequeue(out string msg))
                {
                    lineOperation.msg = msg;
                    lineOperation.msg = lineOperation.msg.Trim().Trim(',');
                    boxStatus.msg = lineOperation.msg;
                }
            }
            else if (!string.IsNullOrEmpty(WarnMsg))
            {
                sendmsg = string.Join(",", new string[] { WarnMsg });

                //lineOperation.msgData["zh"] = lineOperation.msg;
                //lineOperation.msgData["en"] = lineOperation.msg;
                //lineOperation.msgData["jp"] = lineOperation.msg;
                //lineOperation.status = (int)StoreStatus.Warning;
            }
            else if (!RobotManage.isRunning)
            {
                sendmsg = crc.GetString("Res0001", "设备未启动");
            }

            lineOperation.msg = sendmsg;
            lineOperation.msg = lineOperation.msg.Trim().Trim(',');
            boxStatus.msg = lineOperation.msg;
            lineOperation.msgEn = lineOperation.msg;
            lineOperation.msgJp = lineOperation.msg;

            //lineOperation.boxStatus.Add(StoreID, boxStatus);
            lineOperation.data= lineOperation.data.Union(UnifiedDataHandler.PrintNgMESData()).ToDictionary(x=>x.Key,x=>x.Value);
            lineOperation.showLogs = StepInformation(out Dictionary<string,string> dic);
            lineOperation.data =lineOperation.data.Union(dic).ToDictionary(x => x.Key, x => x.Value);
            return lineOperation;
        }
        private static string api_communication = "service/equipment/communication";    //流水线状态通信接口
        public static string GetPostApi()
        {
            var host = server;
            if (!host.StartsWith("http://"))
            {
                host = "http://" + host;
            }
            if (!host.EndsWith("/"))
            {
                host = host + "/";
            }
            return host + api_communication;
        }
        public static string GetPostApi(string api)
        {
            var host = server;
            if (!host.StartsWith("http://"))
            {
                host = "http://" + host;
            }
            if (!host.EndsWith("/"))
            {
                host = host + "/";
            }
            if (api.StartsWith("/"))
                api = api.Substring(1);
            return host + api;
        }
        int laststatus = 0;
        public void SendLineStatus()
        {
            try
            {
                lock (serverclock)
                {
                    bool printlog = false;
                    DateTime time = DateTime.Now;
                    //构建发送给服务器的对象
                    Operation lineOperation = getLineBoxStatus();

                    if (lineOperation.status != laststatus)
                    {
                        laststatus = lineOperation.status;
                        printlog = true;
                    }

                    Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, 700, printlog);
                    //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
                    ResultProcess(resultOperation);
                    TimeSpan span = DateTime.Now - time;
                    if (span.TotalMilliseconds > 700)
                    {
                        LogUtil.info(StoreName + "TimerProcess[" + span.TotalMilliseconds + "]");
                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("SendLineStatus",ex);
            }

        }
        public bool SendAgvLog(string msg)
        {
            if (!server.ToLower().StartsWith("http"))
            {
                return false;
            }
            lock (serverclock)
            {
                Operation operation = getLineBoxStatus();

                //operation.logList = new List<AgvLogInfo>
                //{
                //    new AgvLogInfo(msg)
                //};
                //LogUtil.info(JsonHelper.SerializeObject(operation));

                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);

                if (resultOperation == null)
                {
                    LogUtil.info($"SendAgvLog error:{msg}");
                    return false;
                }
                LogUtil.info($"SendAgvLog success:{msg}");
            }
            return true;
        }
        string mimoCid = ConfigHelper.Config.Get("MIMO_CID", "01");
        public bool OpMIMO(string msg, Dictionary<string, string> operate)
        {
            if (!server.ToLower().StartsWith("http"))
            {
                return false;
            }
            lock (serverclock)
            {
                Operation operation = getLineBoxStatus();

                //operation.mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
                //Dictionary<string, string> op = new Dictionary<string, string>
                //{
                //    { "Y10", "open" }
                //};
                //operation.mimoOpMap.Add("1", op);

                //operation.mimoOpMap.Add(mimoCid, operate);
                LogUtil.info(JsonHelper.SerializeObject(operation));

                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 1000);

                if (resultOperation == null)
                {
                    LogUtil.info($"OpMIMO error:{msg}");
                    return false;
                }
                LogUtil.info($"OpMIMO success:{msg}");
            }
            return true;
        }
        public int queueTaskCount = -1;
        ConcurrentQueue<string> commandResultMsg = new ConcurrentQueue<string>();
        void ResultProcess(Operation resultOperation)
        {
            //发送状态信息到服务器 
            if (resultOperation == null)
            {
                //判断服务端是否返回出库操作
                return;
            }

            if (resultOperation.op.Equals(1))
            {
                var barcode = "";
                if (resultOperation.data.ContainsKey("code"))
                    barcode = resultOperation.data["code"];
                //ReviceInStoreProcess(barcode, resultOperation);
            }
            else if (resultOperation.op.Equals(2))
            {
                //ReviceOutStoreProcess(resultOperation);
            }
            else if (resultOperation.op.Equals(5))
            {
                //ProcessHumidityCMD(resultOperation);
            }
            //ProcessHumidityCMD(resultOperation);
            if (resultOperation.data != null)
            {
                Dictionary<string, string> dataMap = resultOperation.data;
                //折叠门开启状态
                if (dataMap.ContainsKey("X16") && dataMap["X16"].Equals("1"))
                {
                    AGVManager.StringDoorIsOpen = true;
                }
                else
                {
                    AGVManager.StringDoorIsOpen = false;
                }
                if (dataMap.ContainsKey(ParamDefine.SendEmptyShelf) && dataMap[ParamDefine.SendEmptyShelf].Equals(ParamDefine.doit))
                {
                    AGVManager.CreateAGVTask(STDTaskType.NS200_UNLOAD_B1);
                    LogUtil.info(StoreName + "收到服务器命令：贴标机 SendEmptyShelf=doit");
                }
                else if (dataMap.ContainsKey(ParamDefine.SendFullShelf) && dataMap[ParamDefine.SendFullShelf].Equals(ParamDefine.doit))
                {
                    AGVManager.CreateAGVTask(STDTaskType.NS200_UNLOAD_B2);
                    LogUtil.info(StoreName + "收到服务器命令：贴标机 SendFullShelf=doit");
                }
                else if (dataMap.ContainsKey(ParamDefine.NeedEmptySHelf) && dataMap[ParamDefine.NeedEmptySHelf].Equals(ParamDefine.doit))
                {
                    AGVManager.CreateAGVTask(STDTaskType.NS200_LOAD_B2);
                    LogUtil.info(StoreName + "收到服务器命令：贴标机 NeedEmptySHelf=doit");
                }
                else if (dataMap.ContainsKey(ParamDefine.NeedFullShelf) && dataMap[ParamDefine.NeedFullShelf].Equals(ParamDefine.doit))
                {
                    AGVManager.CreateAGVTask(STDTaskType.NS200_LOAD_B1);
                    LogUtil.info(StoreName + "收到服务器命令：贴标机 NeedFullShelf=doit");
                }

            }
            //if (resultOperation.mimoOpMap != null)
            //{
            //    foreach (var item in resultOperation.mimoOpMap)
            //    {
            //        Dictionary<string, string> dataMap = item.Value;
            //        if (dataMap.ContainsKey(ParamDefine.SendEmptyShelf) && dataMap[ParamDefine.SendEmptyShelf].Equals(ParamDefine.doit))
            //        {
            //            AGVManager.CreateAGVTask(STDTaskType.MIMO_UNLOAD);
            //            LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) SendEmptyShelf=doit");
            //        }
            //        else if (dataMap.ContainsKey(ParamDefine.NeedEmptySHelf) && dataMap[ParamDefine.NeedEmptySHelf].Equals(ParamDefine.doit))
            //        {
            //            LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) NeedEmptySHelf=doit 不执行");
            //        }
            //        else if (dataMap.ContainsKey(ParamDefine.SendFullShelf) && dataMap[ParamDefine.SendFullShelf].Equals(ParamDefine.doit))
            //        {
            //            AGVManager.CreateAGVTask(STDTaskType.MIMO_UNLOAD);
            //            LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) SendFullShelf=doit");
            //        }
            //        else if (dataMap.ContainsKey(ParamDefine.NeedFullShelf) && dataMap[ParamDefine.NeedFullShelf].Equals(ParamDefine.doit))
            //        {
            //            AGVManager.CreateAGVTask(STDTaskType.MIMO_LOAD);
            //            LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) NeedFullShelf=doit");
            //        }
            //    }

            //}


        }

        public Dictionary<string, string> GetAgvBtnStatus()
        {
            //mimo呼叫agv按钮
            Dictionary<string, string> map = new Dictionary<string, string>();

            map.Add(ParamDefine.SendEmptyShelf, ParamDefine.disable);
            map.Add(ParamDefine.SendFullShelf, ParamDefine.disable);
            map.Add(ParamDefine.NeedEmptySHelf, ParamDefine.disable);
            map.Add(ParamDefine.NeedFullShelf, ParamDefine.disable);
            if (!RobotManage.isRunning)
            {
                return map;
            }
            if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
            {
                map[ParamDefine.NeedFullShelf] = ParamDefine.enable;
            }
            else
                //if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH)
                //    && RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait)
                map[ParamDefine.SendEmptyShelf] = ParamDefine.enable;

            //if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH)
            //    && RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.Wait)

            if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
                map[ParamDefine.SendFullShelf] = ParamDefine.enable;
            else
                map[ParamDefine.NeedEmptySHelf] = ParamDefine.enable;

            return map;
        }

        private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
        {
            if (server.EndsWith("/"))
            {
                server = server.Substring(0, server.Length - 1);
            }
            string path = server + addr.Trim() + "?";
            foreach (string paramName in paramsMap.Keys)
            {
                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
                path += paramName + "=" + par + "&";
            }
            path = path.Substring(0, path.Length - 1);
            return path;
        }
        /// <summary>
        /// 获取模板信息
        /// </summary>
        /// <returns></returns>
        public List<EquipMsg> StepInformation(out Dictionary<string,string> dic)
        {
            dic = new Dictionary<string,string>();   
            List<EquipMsg> equipMsgs = new List<EquipMsg>();
            try
            {
                PropertyInfo[] properties = typeof(DeviceLibrary.MainMachine).GetProperties();
                foreach (var property in properties)
                {
                    if (property.PropertyType == typeof(MoveInfo))
                    {
                        EquipMsg msg = new EquipMsg();
                        MoveInfo addressValue = (MoveInfo)property.GetValue(RobotManage.mainMachine);
                        if (addressValue.Name != crc.GetString("Res0053", "重置"))
                        {
                            //msg.msgCode = lang;
                            msg.module = addressValue.Name;
                            //msg.msg = addressValue.MoveStep.ToString();
                            //msg.msgParams = new string[1] { addressValue.lastmsg };
                            //msg.msgParams = new string[] { addressValue.GetStateStr() };
                            msg.msg = addressValue.GetStateStr();
                            equipMsgs.Add(msg);
                            if (addressValue.Name== crc.GetString("Res0039", "右侧取料"))
                            {
                                dic.Add("inShelfType", ShelfType.smallReel.ToString());
                                dic.Add("inShelfStatus", UnifiedDataHandler.ShelfStatus(true,Convert.ToInt32(addressValue.MoveStep)));
                            }
                            if (addressValue.Name== crc.GetString("Res0051", "左侧放料"))
                            {
                                dic.Add("outShelfType", ShelfType.smallReel.ToString());
                                dic.Add("outShelfStatus", UnifiedDataHandler.ShelfStatus(false, Convert.ToInt32(addressValue.MoveStep)));
                            }
                        }
                    }
                }

                var printstatus = PrinterHelper.LastPrintStatus;
                EquipMsg equip = new EquipMsg()
                {
                    module = crc.GetString("Res0216", "打印机"),
                    msg = (printstatus == CustPrinterStatus.Unknown) ? "Wait" : printstatus.ToString(),

                };                
            }
            catch (Exception ex)
            {
                LogUtil.error($"获取模块信息出错：{ex}！");
            }
            return equipMsgs;
        }
    }
    public class ResultData
    {
        //{"code":0,"msg":"ok","data":"7"} 
        public int code { get; set; }

        public string msg { get; set; }

        public Dictionary<string, string> data { get; set; }
    }
    /// <summary>
    ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
    ///2=急停，3=故障，4=警告，5=调试
    /// 6=入库执行中,7=入仓完成，8=入仓失败
    /// 9=出库执行，10=出仓完成，11=出库失败
    /// </summary>
    public enum StoreStatus
    {
        None = 0,
        /// <summary>
        /// 1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
        /// </summary>
        StoreOnline = 1,
        /// <summary>
        ///2=急停中
        /// </summary>
        SuddenStop = 2,
        /// <summary>
        /// 3=故障中
        /// </summary>
        InTrouble = 3,
        /// <summary>
        /// 4=警告
        /// </summary>
        Warning = 4,
        /// <summary>
        /// 5=设备调试中 
        /// </summary>
        Debugging = 5,
        /// <summary>
        /// 6=入库执行中 
        /// </summary>
        InStoreExecute = 6,
        /// <summary>
        /// 7= 入仓位完成（料仓Box把料盘放入对应的库位中，装置还未恢复原始状态） 
        /// </summary>
        InStoreEnd = 7,
        /// <summary>
        /// 8=入库失败
        /// </summary>
        InStoreFaild = 8,
        /// <summary>
        /// 9=出库执行中",
        /// </summary>
        OutStoreExecute = 9,
        /// <summary>
        ///10= 出仓位完成（ 料盘已经放到Box门口） 
        /// </summary>
        OutStoreBoxEnd = 10,
        /// <summary>
        ///11=出库完成
        /// </summary>
        OutStoreEnd = 11,
        /// <summary>
        /// 12=移栽出库移栽过程中（移栽完成后变成OnLine）
        /// </summary>
        OutMoveExecute = 12,
        /// <summary>
        /// 重置中（原点返回和重置都发此状态）
        /// </summary>
        ResetMove = 13,
        /// <summary>
        /// 扫码入库失败
        /// </summary>
        InStoreError = 14,

    }
}