using HslCommunication;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading;
using WIDESEA_Common;
using WIDESEA_Common.CutomerModel;
using WIDESEA_Common.TaskEnum;
using WIDESEA_Common.Tools;
using WIDESEA_Core.Utilities;
using WIDESEA_Entity.DomainModels;
using WIDESEA_Services;
using WIDESEA_Services.IRepositories;
using WIDESEA_Services.Repositories;
using WIDESEA_Services.Services;
using WIDESEA_WCS.WCSClient;

namespace WIDESEA_WCS.Jobs.ConveyorLine.OutboundArea
{
    public partial class OutboundAreaDispatch
    {
        /// <summary>
        /// 出库的层
        /// </summary>
        private static List<string> OutboundStationLayerNo = new List<string>() { "60101", "60102", "60103", "60104", "60105", "60106", "60107" };
        //入库托盘申请站台
        private static string ReInboundRequestStationNo = "90101";
        //出库站台交互
        //private static string OutboundStationNo = "90201";
        //提升机编号
        private static string hoisterResultNo = "90100";
        /// <summary>
        /// 出库区调度
        /// </summary>
        /// <param name="taskWCSinfoRepository"></param>
        /// <param name="client"></param>
        public static string currentModel = "Inbound";
        static int flag = 0;
        public static void OutboundAreaDispathAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
        {
            try
            {
                //出库完成
                OutboundCompleteAction(taskWCSinfoRepository, client);  //压装出库口任务完成

                //生成可下发的RGV任务，至缓存口
                List<Dt_TaskWCSinfo> executingTask = taskWCSinfoRepository.Find(r => r.wcstask_state != TaskState.TaskState_Assigned.ToString()
                 && endStationNo.Contains(r.wcstask_endPoint));
                if (executingTask.Count < 4)    //小于4，则可生成去这边的任务
                {
                    //直接将任务添加到AGV任务
                    Dt_TaskWCSinfo outboundTask = GetOutboundTask(taskWCSinfoRepository, client);
                    if (null != outboundTask)
                    {
                        //查找是否有该托盘条码任务，如果没有则进行添加RGV任务
                        Dt_TaskRGVinfo rgvInfo = taskRGVinfoRepository.FindFirst(r => r.rgvtask_barCode == outboundTask.wcstask_barcode
                        && r.rgvtask_wcsTaskNumber == outboundTask.wcstask_taskNumber);

                        if (null == rgvInfo)
                        {
                            string rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
                            if (outboundTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
                                || outboundTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
                                rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();


                            rgvInfo = GetRGVTask(taskRGVinfoRepository, outboundTask, rgvTaskType);
                            taskRGVinfoRepository.Add(rgvInfo, true);

                            outboundTask.wcstask_state = TaskState.TaskState_RGV_Received.ToString();
                            taskWCSinfoRepository.Update(outboundTask, x => x.wcstask_state, true);
                        }
                    }
                }

                //缓存口至输送线
                OutboundCZ_PLC(taskWCSinfoRepository, taskRGVinfoRepository, client);
                

                //空托入库申请(生成了空托入库任务)
                InboundRequestAction(taskWCSinfoRepository, taskRGVinfoRepository, client);

                //空托到缓存口
                ReInboundKTP(taskWCSinfoRepository, client);

                //空托入库口，生成RGV任务,进行入库
                RGV_InboundKTP(taskWCSinfoRepository, taskRGVinfoRepository, client);


            }
            catch (Exception ex)
            {
                WriteLog.Info("OutboundArea").Write($"{ DateTime.Now }出库区域调度失败:{ex.Message}", "OutboundArea");
            }
        }
        public static bool WriteRGVState(PLCClient client, bool value)
        {
            client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), value);
            string rel = string.Empty;
            for (int i = 0; i < 50; i++)
            {
                rel = client.ReadValue(CLineInfoDBName.W_System_RGVState.ToString()).ToString();
                if (value == bool.Parse(rel))
                    break;
                else
                {
                    client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), value);
                    Thread.Sleep(88);
                }
            }
            rel = client.ReadValue(CLineInfoDBName.W_System_RGVState.ToString()).ToString();
            if (value != bool.Parse(rel))
                Console.Out.WriteLine($"{DateTime.Now}写入车存储中{value}失败.");

            return bool.Parse(rel);
        }
        /// <summary>
        /// 查询是否有可出的出库任务
        /// </summary>
        /// <param name="taskWCSinfoRepository"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        public static Dt_TaskWCSinfo GetOutboundTask(IDt_TaskWCSinfoRepository taskWCSinfoRepository, PLCClient client)
        {
            Dt_TaskWCSinfo wcsInfo = null;

            List<Dt_TaskWCSinfo> listTask = taskWCSinfoRepository.Find(r => r.wcstask_state == TaskState.TaskState_Assigned.ToString() &&
          (r.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString() || r.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString())
          && OutboundStationLayerNo.Contains(r.wcstask_startPoint)).OrderBy(r => r.wcstask_createTime).ToList();//

            foreach (var item in listTask.GroupBy(r => r.wcstask_endPoint))
            {
                Dt_TaskWCSinfo wcsTask = item.OrderBy(r => r.wcstask_createTime).FirstOrDefault();
                if (null != wcsTask)
                {
                    //判断压装台是否有货
                    bool yzflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), wcsTask.wcstask_endPoint).ToString());
                    bool yznoflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_NoLoadSleep.ToString(), wcsTask.wcstask_endPoint).ToString());
                    if (yzflag || !yznoflag)
                        continue;

                    //判断缓存架是否有货
                    bool flag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), wcsTask.wcstask_startPoint).ToString());
                    bool noflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_NoLoadSleep.ToString(), wcsTask.wcstask_startPoint).ToString());
                    if (flag || !noflag)
                        continue;


                    //同一层有执行中的任务不添加
                    Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => (r.wcstask_startPoint == wcsTask.wcstask_startPoint || r.wcstask_endPoint == wcsTask.wcstask_endPoint)
                    && (r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
                    if (null != executingTask)
                        continue;


                    List<Dt_TaskWCSinfo> listTarget = taskWCSinfoRepository.Find(r => r.wcstask_endPoint == wcsTask.wcstask_endPoint &&
                    r.wcstask_state != TaskState.TaskState_Assigned.ToString());

                    string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), wcsTask.wcstask_endPoint).ToString();
                    if (string.IsNullOrEmpty(barcode) || "0".Equals(barcode))
                    {
                        if (null != listTarget && listTarget.Count > 1)
                            continue;
                        else
                        {
                            wcsInfo = wcsTask;
                            break;
                        }
                    }
                    else
                    {
                        if (null != listTarget && listTarget.Count > 0)
                            continue;
                        else
                        {
                            wcsInfo = wcsTask;
                            break;
                        }
                    }
                }
            }



            //foreach (var item in listTask)
            //{
            //    //同一层有执行中的任务不添加
            //    Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => (r.wcstask_startPoint == item.wcstask_startPoint || r.wcstask_endPoint == item.wcstask_endPoint)
            //    && (r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
            //    if (null != executingTask)
            //        continue;

            //    //同一目标位置的不能同时出
            //    //  Dt_TaskWCSinfo endTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_endPoint == item.wcstask_endPoint &&
            //    //(r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
            //    //  if (null != endTask)
            //    //      continue;

            //    List<Dt_TaskWCSinfo> listTarget = taskWCSinfoRepository.Find(r => r.wcstask_endPoint == item.wcstask_endPoint &&
            //    r.wcstask_state != TaskState.TaskState_Assigned.ToString());

            //    string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), item.wcstask_endPoint).ToString();
            //    if (string.IsNullOrEmpty(barcode) || "0".Equals(barcode))
            //    {
            //        if (null != listTarget && listTarget.Count > 1)
            //            continue;
            //        else
            //        {
            //            wcsInfo = item;
            //            break;
            //        }
            //    }
            //    else
            //    {
            //        if (null != listTarget && listTarget.Count > 0)
            //            continue;
            //        else
            //        {
            //            wcsInfo = item;
            //            break;
            //        }
            //    }
            //}
            return wcsInfo;
        }


        public static Dt_TaskRGVinfo GetRGVTask(IDt_TaskRGVinfoRepository taskRGVinfoRepository, Dt_TaskWCSinfo wcsTask, string rgvTaskType)
        {
            Dt_TaskRGVinfo rgvInfo = new Dt_TaskRGVinfo();
            rgvInfo.rgvtask_taskId = GetTaskNumber.GetRgvTaskNumber(taskRGVinfoRepository).ToString();
            rgvInfo.rgvtask_taskType = rgvTaskType;
            rgvInfo.rgvtask_taskStatus = RGVTaskState.RgvTaskState_Wait_Send.ToString();
            rgvInfo.rgvtask_priorityCode = wcsTask.wcstask_grade.ToString();
            rgvInfo.rgvtask_startNode = wcsTask.wcstask_startLocation;
            rgvInfo.rgvtask_endNode = wcsTask.wcstask_endLocation;
            rgvInfo.rgvtask_wcsTaskNumber = wcsTask.wcstask_taskNumber;
            rgvInfo.rgvtask_barCode = wcsTask.wcstask_barcode;
            rgvInfo.rgvtask_creator = wcsTask.wcstask_creator;
            rgvInfo.rgvtask_msgTime = DateTime.Now;
            rgvInfo.rgvtask_areaCode = "OutboundArea";
            return rgvInfo;
        }

        public static void InboundRequestAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
        {
            try
            {
                int R_Line_PLCDispatch = int.Parse(client.ReadValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo).ToString());
                bool load = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), ReInboundRequestStationNo).ToString());
                if (R_Line_PLCDispatch ==1 && load)
                {
                    string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
                    if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode))
                    {
                        Dt_TaskWCSinfo wcsInfo = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == barcode && r.wcstask_type == TaskType.TaskType_Empty_Pallet_Inbound.ToString());
                        if (null == wcsInfo)
                        {
                            //获取车轴出库
                            List<Dt_TaskWCSinfo> executingTask = taskWCSinfoRepository.Find(r => (r.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString()) ||
                                r.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString())) && endStationNo.Contains(r.wcstask_endPoint));

                            //获取有多少条出库的任务
                            int LineExecucount = executingTask.Count(x => x.wcstask_state == TaskState.TaskState_Box_Out_Line_Executing.ToString());
                            if (LineExecucount >= 4)
                            {
                                //判断是否有对应层的出库任务，
                                //申请入库任务
                                WebResponseContent content = WMSApi.PostInboundRequstToWMS(barcode);
                                if (content.Status)
                                {
                                    WmsTaskInfo wmsTask = JsonConvert.DeserializeObject<WmsTaskInfo>(content.Data.ToString());
                                    wcsInfo = CommonFunction.AddWCSEmptyInboundTask(wmsTask, taskWCSinfoRepository);
                                    taskWCSinfoRepository.Add(wcsInfo, true);
                                    client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 2);
                                }
                                else
                                {
                                    throw new Exception("入库申请失败:" + content.Message);
                                }

                            }
                            else
                            {
                                //判断有多少条在缓存架的
                                int RGV_Finishedcount = executingTask.Count(x => x.wcstask_state != TaskState.TaskState_Box_Out_Line_Executing.ToString()
                                && x.wcstask_state != TaskState.TaskState_Assigned.ToString());
                                if (RGV_Finishedcount == 0)
                                {
                                    //申请入库任务
                                    WebResponseContent content = WMSApi.PostInboundRequstToWMS(barcode);
                                    if (content.Status)
                                    {
                                        WmsTaskInfo wmsTask = JsonConvert.DeserializeObject<WmsTaskInfo>(content.Data.ToString());
                                        wcsInfo = CommonFunction.AddWCSEmptyInboundTask(wmsTask, taskWCSinfoRepository);
                                        taskWCSinfoRepository.Add(wcsInfo, true);
                                        client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 2);
                                    }
                                    else
                                    {
                                        throw new Exception("入库申请失败:" + content.Message);
                                    }

                                }
                            }
                        }
                    }
                    else
                    {
                        throw new Exception("入库申请失败:读取到的空托盘条码为空，读取内容："+ barcode);
                    }
                }
            }
            catch (Exception ex)
            {
                client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 3);
                Console.Out.WriteLine(DateTime.Now + ex.Message);
            }
        }
    }
}