using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using WIDESEA_DTO.Agv;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using static Dm.net.buffer.ByteArrayBuffer;

namespace WIDESEAWCS_Server.Controllers
{
    [Route("api/[controller]")]
    [ApiController]
    public class CTU_AGVController : ControllerBase
    {
        private readonly IStationMangerRepository _stationMangerRepository;
        private readonly ITaskService _taskService;
        private readonly ITaskRepository _taskRepository;
        private readonly IUnitOfWorkManage _unitOfWorkManage;

        public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IUnitOfWorkManage unitOfWorkManage)
        {
            _stationMangerRepository = stationMangerRepository;
            _taskService = taskService;
            _taskRepository = taskRepository;
            _unitOfWorkManage = unitOfWorkManage;
        }
        [HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
        public WebResponseContent AGVFinish(string barcode)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var task = _taskRepository.QueryFirst(x => x.PalletCode == barcode);
                if (task == null) throw new Exception($"未找到任务,托盘号【{barcode}】");
                AgvUpdateDTO updateDTO = new AgvUpdateDTO()
                {
                    TaskCode = task.AgvTaskNum,
                    Method = "end"
                };
                var agvResponseContent = CtuCallback(updateDTO);
                if (agvResponseContent.Code == "1") throw new Exception(agvResponseContent.Message);
                content.OK();
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

        #region 安全信号申请
        /// <summary>
        /// 安全信号申请 AGV-WCS
        /// </summary>
        /// <param name="secureApplyModel"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("AgvSecureApply"), AllowAnonymous]
        public AgvResponseContent AgvSecureApply([FromBody] AgvSecureApplyDTO secureApplyModel)
        {
            AgvResponseContent agvResponseContent = new AgvResponseContent();
            agvResponseContent.ReqCode = secureApplyModel.ReqCode;
            try
            {
                var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode == x.AgvTaskNum);
                if (task == null) throw new Exception("未找到任务");
                if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
                {
                    var content = PutRequest(task.NextAddress, task.PalletType);
                }
                else
                {
                    var content = TakeRequest(task.CurrentAddress);
                }
                task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
                var up = _taskRepository.UpdateData(task);
                agvResponseContent.Code = up ? "0" : "1";
                agvResponseContent.Message = up ? "成功" : "失败";
            }
            catch (Exception ex)
            {
                agvResponseContent.Code = "1";
                agvResponseContent.Message = ex.Message;
            }
            return agvResponseContent;
            //return _taskService.AgvSecureApply(secureApplyModel);
        }
        #endregion
        /// <summary>
        /// 料箱判断
        /// </summary>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("AgvCallbackBoxNo"), AllowAnonymous]
        public AgvResponseContent AgvCallbackBoxNo([FromBody] AgvCallbackBoxNoDTO agvCallbackBox)
        {
            AgvResponseContent agvResponseContent = new AgvResponseContent();
            try
            {
                var task = _taskRepository.QueryFirst(x => agvCallbackBox.TaskNo == x.AgvTaskNum);
                if (task==null)
                {
                    agvResponseContent.Code = "1";
                    agvResponseContent.Message = $"未找到任务{agvCallbackBox.TaskNo}";
                    return agvResponseContent;
                }
                if (task.PalletCode!= agvCallbackBox.ContainerCode)
                {
                    string Address = task?.CurrentAddress switch
                    {
                        "5206" => "5105",
                        "5212" => "5111",
                        "5218" => "5117",
                        "8005" => "8001",
                        "5135" => "5236",
                        _ => throw new Exception("未找到地址信息"),
                    };
                    AgvCTUCancelDTO agvCTUCancel=new AgvCTUCancelDTO()
                    {
                        ForceCancel="1",
                        MatterArea= task.CurrentAddress,
                        TaskCode=task.AgvTaskNum,
                        ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
                        ReqTime= DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                    };
                    WebResponseContent content = _taskService.AgvBoxApplyPass(agvCTUCancel);
                    //取消任务
                    if (content.Status)
                    {
                        agvResponseContent.Code = "0";
                        agvResponseContent.Message = $"取消{task.AgvTaskNum}成功";
                        task.ExceptionMessage = $"实际箱号{task.PalletCode}扫描箱{agvCallbackBox.ContainerCode}";
                        _taskService.UpdateTask(task, TaskStatusEnum.Cancel);
                    }
                    else
                    {
                        agvResponseContent.Code = "1";
                        agvResponseContent.Message = content.Message;
                    }
                }
                else
                {
                    agvResponseContent.Code = "0";
                    agvResponseContent.Message = "成功";
                }
            }
            catch (Exception ex)
            {
                agvResponseContent.Code = "1";
                agvResponseContent.Message = ex.Message;
            }
            return agvResponseContent;
        }
        /// <summary>
        /// CtuAGV任务更新/完成
        /// </summary>
        /// <param name="agvUpdateModel"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("CtuCallback"), AllowAnonymous]
        public AgvResponseContent CtuCallback([FromBody] AgvUpdateDTO agvUpdateModel)
        {
            AgvResponseContent agvResponseContent = new AgvResponseContent();
            try
            {
                if (agvUpdateModel == null) throw new Exception("未获取到请求参数");
                agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
                var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum) ?? throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
                switch (agvUpdateModel.Method.ToUpper())
                {
                    case "END":
                        if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt() 
                            || task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt() || task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
                            PutFinish(task.NextAddress);
                        _taskService.TaskCompleted(task.TaskNum);
                        break;
                    case "APPLYTOAGV":
                        //更改成品入库AGV取货任务状态
                        if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
                        {
                            
                            //是否存在输送线体待AGV搬运任务
                            var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
                            if (taskExecutes.Count > 0)
                            {
                                string address = task.CurrentAddress switch
                                {
                                    "5206" => "5105",
                                    "5212" => "5111",
                                    "5218" => "5117"
                                };
                                //调用AGV预调度接口
                                AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
                                {
                                    PositionCode = address,
                                    NextTask = "90",
                                    UseableLayers = "1",
                                    CacheCount = "1",
                                    Update = "0",
                                    AgvTyp = "11",
                                    PreTaskQty = "1",
                                    ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                    ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                                };
                                WebResponseContent content = _taskService.AgvPreScheduleTask(agvScheduleTask);
                                if (!content.Status)
                                {
                                    agvResponseContent.Code = "1";
                                    agvResponseContent.Message = content.Message;
                                    return agvResponseContent;
                                }
                            }
                            Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
                            if (stationManger==null)
                            {
                                agvResponseContent.Code = "1";
                                agvResponseContent.Message = "未找到站台";
                                return agvResponseContent;
                            }
                            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                            if (device == null)
                            {
                                agvResponseContent.Code = "1";
                                agvResponseContent.Message = $"未找设备{stationManger.StationDeviceCode}";
                                return agvResponseContent;
                            }
                            OtherDevice otherDevice = (OtherDevice)device;
                            short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                            if (canTake == 1)
                            {
                                //获取调入参数
                                AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
                                {
                                    ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                    ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                                    TaskCode = task.AgvTaskNum
                                };
                                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                                {
                                    boxApplyPassDTO.Type = "1";
                                }
                                else
                                {
                                    boxApplyPassDTO.Type = "2";
                                }
                                //请求料箱回调接口
                                WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
                                if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                                {
                                    task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                                    _taskRepository.UpdateData(task);
                                }
                                else
                                {
                                    task.ExceptionMessage = content.Message;
                                    _taskService.UpdateTask(task, TaskStatusEnum.Exception);
                                }
                            }
                            else
                            {
                                task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
                                task.Remark = task.TaskState.ToString();
                                _taskRepository.UpdateData(task);
                            }
                        }
                        else //更改辅料取货
                        {
                            //是否存在输送线体待AGV搬运任务
                            var taskExecutesFL = _taskRepository.QueryData(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && x.DeviceCode == "AGV_FL" && !string.IsNullOrEmpty(x.DeviceCode));
                            if (taskExecutesFL.Count > 0)
                            {
                                //调用AGV预调度接口
                                AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
                                {
                                    PositionCode = "8001",
                                    NextTask = "60",
                                    UseableLayers = "1",
                                    CacheCount = "1",
                                    Update = "0",
                                    AgvTyp = "10",
                                    PreTaskQty = "1",
                                    ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                    ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                                };
                                WebResponseContent contentFL = _taskService.AgvPreScheduleTask(agvScheduleTask);
                                if (!contentFL.Status)
                                {
                                    agvResponseContent.Code = "1";
                                    agvResponseContent.Message = contentFL.Message;
                                    return agvResponseContent;
                                }
                            }
                            else //线体无任务
                            {
                                //调用AGV预调度接口
                                AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
                                {
                                    PositionCode = "8001",
                                    NextTask = "15",
                                    UseableLayers = "1",
                                    CacheCount = "1",
                                    Update = "0",
                                    AgvTyp = "10",
                                    PreTaskQty = "1",
                                    ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                    ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                                };
                                WebResponseContent contentFL = _taskService.AgvPreScheduleTask(agvScheduleTask);
                                if (!contentFL.Status)
                                {
                                    agvResponseContent.Code = "1";
                                    agvResponseContent.Message = contentFL.Message;
                                    return agvResponseContent;
                                }
                            }
                            //获取调入参数
                            AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
                            {
                                ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                                TaskCode = task.AgvTaskNum
                            };
                            boxApplyPassDTO.Type = "1";
                            //请求料箱回调接口
                            WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
                            if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                            {
                                task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                                _taskRepository.UpdateData(task);
                            }
                            else
                            {
                                task.ExceptionMessage = content.Message;
                                _taskService.UpdateTask(task, TaskStatusEnum.Exception);
                            }
                        }
                        break;
                    case "APPLYFROMAGV":
                        //更改成品出AGV放货任务状态
                        //if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
                        //{
                            _taskService.UpdateTask(task, TaskStatusEnum.AGV_WaitToExecute);
                        //}
                        break;
                    case "OUTBIN":
                        if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
                        {
                            TakeFinish(task.CurrentAddress);
                            //_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
                        }
                        else if(task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
                        {
                            task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                            _taskRepository.UpdateData(task);
                        }
                        break;
                    default:
                        throw new Exception($"方法{agvUpdateModel.Method}参数不存在");
                }
                agvResponseContent.Code = "0";
                agvResponseContent.Message = "成功";
            }
            catch (Exception ex)
            {
                agvResponseContent.Code = "1";
                agvResponseContent.Message = ex.Message;
            }
            return agvResponseContent;
        }

        /// <summary>
        /// 放货请求
        /// </summary>
        /// <param name="code"></param>
        /// <param name="palletType"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
        public WebResponseContent PutRequest(string code, int palletType)
        {
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
                }
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
                    return WebResponseContent.Instance.Error($"未找到对应设备");
                }

                OtherDevice otherDevice = (OtherDevice)device;

                bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                if (canPut)
                {
                    otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
                    return WebResponseContent.Instance.OK();
                }
                else
                {
                    otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
                    Thread.Sleep(1000);
                    canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                    if (canPut)
                    {
                        return WebResponseContent.Instance.OK();
                    }
                    else
                    {
                        return WebResponseContent.Instance.Error($"放货申请中");
                    }
                }
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        //[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
        /// <summary>
        /// 放货完成
        /// </summary>
        /// <param name="code"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
        public WebResponseContent PutFinish(string code,string barCode="",string taskNum="")
        {
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
                }
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
                    return WebResponseContent.Instance.Error($"未找到对应设备");
                }

                OtherDevice otherDevice = (OtherDevice)device;
                
                if (!barCode.IsNullOrEmpty() && !taskNum.IsNullOrEmpty())
                {
                    otherDevice.SetValue(W_ConveyorLineFLDB.Barcode, barCode, stationManger.StationCode);
                    Thread.Sleep(500);
                    otherDevice.SetValue(W_ConveyorLineFLDB.TaskNum, taskNum, stationManger.StationCode);
                    Thread.Sleep(500);
                }
                otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        //[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
        /// <summary>
        /// 取货请求
        /// </summary>
        /// <param name="code"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
        public WebResponseContent TakeRequest(string code)
        {
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
                }
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
                    return WebResponseContent.Instance.Error($"未找到对应设备");
                }

                OtherDevice otherDevice = (OtherDevice)device;

                bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                if (canPut)
                {
                    otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                    return WebResponseContent.Instance.OK();
                }
                else
                {
                    otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                    Thread.Sleep(1000);
                    canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                    if (canPut)
                    {
                        return WebResponseContent.Instance.OK();
                    }
                    else
                    {
                        return WebResponseContent.Instance.Error($"取货申请中");
                    }
                }
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        //[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
        /// <summary>
        /// 取货完成
        /// </summary>
        /// <param name="code"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
        public WebResponseContent TakeFinish(string code)
        {
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
                }
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
                    return WebResponseContent.Instance.Error($"未找到对应设备");
                }

                OtherDevice otherDevice = (OtherDevice)device;
                otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
                Thread.Sleep(1000);
                otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
    }
}