using HslCommunication;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.ShuttleCarEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Core;
using Newtonsoft.Json;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.WMSInfo;
using WIDESEAWCS_Tasks.ShuttleCarJob;

namespace WIDESEAWCS_Tasks
{
    partial class CommonShuttleCarJob
    {
        private object _CarTaskObject = new object();
        #region 堆垛机移车完成
        /// <summary>
        /// 获取堆垛机移车完成任务
        /// </summary>
        public void GetSC_CarFinish()
        {
            Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.SC_CarFinish, (int)TaskOtherTypeEnum.RelocationCar);//移车任务
            if (dt_Task != null)
            {
                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
                _taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
            }
            dt_Task = GetTask((int)CarChargingTask.SC_CarFinish, (int)TaskOtherTypeEnum.RelocationCarCharging);//移车充电任务
            if (dt_Task != null)
            {
                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
                SendTask(dt_Task);//下发充电任务
            }
        }
        #endregion
        /// <summary>
        /// 修改穿梭车位置信号
        /// </summary>
        /// <param name="ShuttleCarCode">穿梭车号</param>
        /// <param name="Address">位置</param>
        public void UpdateShuttleCar(string ShuttleCarCode, string Address)
        {
            var ShuttleCar = QueryCode(ShuttleCarCode);
            string[] targetCodes = Address.Split("-");
            var Row = Convert.ToInt16(targetCodes[0]);
            if (Row == 3)
            {
                ShuttleCar.ShuttleCarPosition = Address;
                ShuttleCar.ShuttleCarPosition1 = Address;
            }
            else
            {
                var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");
                ShuttleCar.ShuttleCarPosition = Address;
                ShuttleCar.ShuttleCarPosition1 = a + "-" + targetCodes[1] + "-" + targetCodes[2];
            }
            _shuttleCarService.UpdateData(ShuttleCar);
        }
        #region 获取移车任务
        /// <summary>
        /// 获取移车任务/出入库任务
        /// </summary>
        public void Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
        {
            lock (_CarTaskObject)
            {
                Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);//获取新建移车任务
                if (dt_Task != null)
                {
                    if (string.IsNullOrEmpty(dt_Task.SourceAddress))
                    {
                        if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
                        {
                            UpdateSource(ref dt_Task, shuttleCar);
                        }
                        else
                        {//需优化
                            #region 判断是否存在空闲穿梭车,如都在充电(选择电量高的并超过50%电量的穿梭车退出充电)
                            QuitCharging(dt_Task, shuttleCar, command);
                            #endregion
                        }
                    }
                    else if (string.IsNullOrEmpty(dt_Task.TargetAddress))
                    {
                        #region 向WMS申请
                        WebResponseContent content = new WebResponseContent();
                        var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.GetPosition + $"?position={dt_Task.SourceAddress}", "", headers: new Dictionary<string, string>());
                        if (ResultData.Result != null)
                        {
                            content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                            if (content != null && content.Status)
                            {
                                dt_Task.TargetAddress = content.Message;
                                dt_Task.NextAddress = dt_Task.TargetAddress;
                                _taskService.UpdateData(dt_Task);
                                _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务目标地址");
                            }
                        }
                        #endregion
                    }
                    //穿梭车移车任务下发
                    if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
                    {
                        SendTask(dt_Task);
                    }
                }
                #region 穿梭车出入库任务
                else
                {
                    var task1 = _taskService.ShuttleCarRelocationTask(shuttleCar.DeviceCode);//获取穿梭车移库任务
                    var task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);
                    if (task != null)
                    {
                        if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew && !task.SourceIsPickPlace)//移库任务判断起点是否有穿梭车
                        {
                            var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);
                            if (ShuttleCar != null) SendTask(task);
                            else _taskService.AddRelocationCarTask("", task.SourceAddress);
                        }
                        else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && !task.SourceIsPickPlace)
                        {
                            var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);//出库任务判断起点是否有穿梭车
                            if (ShuttleCar != null) SendTask(task);
                            else _taskService.AddRelocationCarTask("", task.SourceAddress);
                        }
                        else
                            SendTask(task);
                    }
                }
                #endregion
            }
        }
        #endregion

        #region 更新移车任务起始地址
        /// <summary>
        /// 更新移车任务起始地址
        /// </summary>
        /// <param name="dt_Task"></param>
        /// <param name="shuttleCar"></param>
        /// <param name="command"></param>
        public void UpdateSource(ref Dt_Task dt_Task, ShuttleCar shuttleCar)
        {
            dt_Task.SourceAddress = QueryCode(shuttleCar._deviceCode).ShuttleCarPosition;
            dt_Task.CurrentAddress = dt_Task.SourceAddress;
            dt_Task.ShuttleCarCode = shuttleCar._deviceCode;
            _taskService.UpdateData(dt_Task);
            _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务起始地址");
        }
        #endregion

        #region 退出充电任务
        public void QuitCharging(Dt_Task dt_Task, ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
        {
            List<string> shuttleCarCodes = new List<string>() { "RGV01", "RGV02" };
            string CarCode = shuttleCarCodes.Where(x => !x.Contains(shuttleCar.DeviceCode)).First();
            ShuttleCar shuttleCar1 = Storage.Devices.Where(x => x.DeviceCode.Equals(CarCode)).FirstOrDefault() as ShuttleCar;
            if (shuttleCar1 != null)
            {
                var command1 = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar1, shuttleCar1.DeviceCode);//读取穿梭车信息
                if (command1.Status == (short)ShuttleCarStatus.Standby && command1.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command1.Err_Status == (short)ShuttleCarErr.Normal)
                {
                    UpdateSource(ref dt_Task, shuttleCar1);
                }
                else
                {
                    //选择电量高的并超过50%电量的穿梭车退出充电
                    command = command.ElectricQuantity > command1.ElectricQuantity ? command : command1;
                    shuttleCar = command.ElectricQuantity > command1.ElectricQuantity ? shuttleCar : shuttleCar1;
                }
            }
            if (string.IsNullOrEmpty(dt_Task.SourceAddress))
            {
                if (command.ElectricQuantity > 50)
                {
                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
                    shuttleCarTaskCommand.Direction = command.Position;
                    shuttleCarTaskCommand.TaskNum = dt_Task.TaskNum;
                    shuttleCarTaskCommand.TaskType = (short)ShuttleCarTaskType.ExitCharge;
                    if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
                    {
                        dt_Task.Remark = "退出充电已下发";
                        UpdateSource(ref dt_Task, shuttleCar);
                    }
                }
            }
        }
        #endregion

        #region 下发穿梭车任务
        /// <summary>
        /// 下发穿梭车任务
        /// </summary>
        /// <param name="task"></param>
        private void SendTask(Dt_Task task)
        {
            ShuttleCar shuttleCar = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;
            if (shuttleCar != null)
            {
                ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar, shuttleCar.DeviceCode);//读取穿梭车信息
                if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
                {
                    #region 判断小车位置无AB面不下发任务
                    short Position = 0;
                    if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionA)) Position = 1;
                    if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionB)) Position = 2;
                    if (Position != 1 && Position != 2)
                    {
                        var Message = $"{shuttleCar.DeviceName}无AB面";
                        if (task.ExceptionMessage != Message)
                            _taskService.UpdateData(task);
                        return;
                    }
                    #endregion
                    //任务转换
                    shuttleCar.SetValue(ShuttleCarDBName.Direction, Position);//写入车体方向
                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
                    shuttleCarTaskCommand.Direction = Position;
                    shuttleCarTaskCommand.TaskNum = task.TaskNum;
                    if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCar)//移车
                    {
                        if (task.TaskState == (int)TaskCarStatusEnum.CarNew)
                        {
                            //if (task.Remark == ShuttleCarTaskType.ExitCharge.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
                            //else
                            shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                        }
                        else if (task.TaskState == (int)TaskCarStatusEnum.SC_CarFinish)
                        {
                            if (task.Remark == ShuttleCarTaskType.Charging.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
                            //else
                            //    shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                        }
                    }
                    else
                        shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                    //shuttleCarTaskCommand.TaskType = string.IsNullOrEmpty(task.Remark) ? (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) : (short)GetCarTaskType(task.Remark);
                    //任务下发
                    if (shuttleCarTaskCommand.TaskType != null)//0
                    {
                        if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
                        {
                            if (!string.IsNullOrEmpty(task.Remark)) task.Remark = task.Remark + "已下发";
                            task.TaskState = GetTaskState(task.TaskType);
                            _taskService.UpdateData(task);
                        }
                    }
                }
            }
        }
        #endregion


        /// <summary>
        /// 根据任务状态、类型获取任务
        /// </summary>
        /// <param name="TaskState"></param>
        /// <param name="TaskType"></param>
        /// <returns></returns>
        private Dt_Task GetTask(int TaskState, int TaskType)
        {
            return _taskService.GetTaskState(TaskState, TaskType);
        }
        /// <summary>
        /// 根据穿梭车编号获取穿梭车信息
        /// </summary>
        /// <param name="ShuttleCarCode"></param>
        /// <returns></returns>
        public Dt_ShuttleCar QueryCode(string ShuttleCarCode)
        {
            return _shuttleCarService.QueryCode(ShuttleCarCode);
        }

        ShuttleCarTaskType GetCarTaskType(string remark) => remark switch
        {
            "Charging" => ShuttleCarTaskType.Charging,
            "ExitCharge" => ShuttleCarTaskType.ExitCharge,
        };

        ShuttleCarTaskType GetCarTaskType(int TaskType, short Direction)
        {
            ShuttleCarTaskType taskType = new ShuttleCarTaskType();
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                    taskType = ShuttleCarTaskType.In;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                    taskType = ShuttleCarTaskType.Out;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                case (int)TaskOtherTypeEnum.RelocationCarCharging:
                    taskType = Direction == 1 ? ShuttleCarTaskType.ZeroA : ShuttleCarTaskType.ZeroB;
                    break;
                default:
                    break;
            }
            return taskType;
        }
        /// <summary>
        /// 获取任务状态
        /// </summary>
        /// <param name="TaskType"></param>
        /// <returns></returns>
        int GetTaskState(int TaskType)
        {
            int state = 0;
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                    state = (int)TaskInStatusEnum.Car_InExecuting;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                    state = (int)TaskOutStatusEnum.Car_OutExecuting;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                    state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
                    break;
                default:
                    break;
            }
            return state;
        }
        /// <summary>
        /// 读取穿梭车信息
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="shuttleCar"></param>
        /// <param name="deviceChildCode"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public T ReadCustomer<T>(ShuttleCar shuttleCar, string deviceChildCode) where T : IDataTransfer, new()
        {
            string deviceChildCode2 = deviceChildCode;
            if (!shuttleCar.IsConnected)
            {
                throw new Exception("通讯连接错误，请检查网络");
            }

            DeviceProDTO? deviceProDTO = (from x in shuttleCar.DeviceProDTOs
                                          where x.DeviceProParamType == "ReadDeviceCommand" && x.DeviceChildCode == deviceChildCode2
                                          orderby x.DeviceProOffset
                                          select x).FirstOrDefault();
            if (deviceProDTO == null)
            {
                throw new Exception("未找到协议信息");
            }

            return shuttleCar.Communicator.ReadCustomer<T>(deviceProDTO.DeviceProAddress);
        }
    }
}