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.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks;

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;

        public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
        {
            _stationMangerRepository = stationMangerRepository;
            _taskService = taskService;
            _taskRepository = taskRepository;
        }
        [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>
        /// 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);
                if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");

                if (agvUpdateModel.Method == "end")
                {
                    if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt()) PutFinish(task.NextAddress);
                    _taskService.TaskCompleted(task.TaskNum);
                }
                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)
        {
            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_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);
            }
        }
    }
}