using HslCommunication;
using System;
using System.Collections.Generic;
using System.Text;
using System.Threading;
using WIDESEA_Common;
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.InboundArea
{
    public partial class InboundAreaDispatch
    {
        private static string MeasureStationNo = "10301";
        public static void MeasureStationAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, PLCClient client,string lineCode)
        {
            //读取设备正常
            try
            {
                //出库测量到达终点处理逻辑
                string rfidResult = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), MeasureStationNo).ToString();
                //出库测量到达终点处理逻辑
                int taskResult = Int32.Parse(client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), MeasureStationNo).ToString());
                //机械手是否开始工作
                bool workingResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Catch_Moving.ToString(), "RobotArm").ToString());
                //读取轴承是否被机械手放回10301
                bool backResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Back_Normal.ToString(), "RobotArm").ToString());

                string str = string.Empty;
                //准备测量，出库测量到达目的地
                Dt_TaskWCSinfo taskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Executing.ToString());
                if (null != taskWCSinfo)
                {
                    WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measure_Out_Line_Finished.ToString());
                    if (content.Status)
                    {
                        taskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Out_Line_Finished.ToString();
                        taskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
                        taskWCSinfoRepository.Update(taskWCSinfo, true);
                    }
                }
                //测量完毕后，机械手把轴承放回该工位，准备走测量回库流程
                Dt_TaskWCSinfo back_TaskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measureing.ToString());
                if (null != back_TaskWCSinfo && backResult)
                {
                    WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString());
                    if (content.Status)
                    {
                        //将任务类型改为回库中
                        back_TaskWCSinfo.wcstask_type = TaskType.TaskType_Box_Pallet_Measure_Back.ToString();
                        //将任务起始站台和目的站台对调，准备回库
                        back_TaskWCSinfo.wcstask_endPoint = back_TaskWCSinfo.wcstask_startPoint;
                        back_TaskWCSinfo.wcstask_startPoint = "10301";
                        back_TaskWCSinfo.wcstask_endLocation = back_TaskWCSinfo.wcstask_startLocation;
                        back_TaskWCSinfo.wcstask_startLocation = back_TaskWCSinfo.wcstask_endPoint;
                        back_TaskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString();
                        back_TaskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
                        taskWCSinfoRepository.Update(back_TaskWCSinfo, true);
                    }
                }
                //测量完毕
                Dt_TaskWCSinfo backMoving_TaskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && (x.wcstask_state == TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString() ||
                    x.wcstask_state == TaskState.TaskState_Measure_Back_Line_Executing.ToString()));
                if (null != backMoving_TaskWCSinfo)
                {
                    //回库这里需要考虑冲突， 即穿梭车可能要放货到回库的目标地址，看是否有该类型已经开始
                    //出库测量任务
                    //起始站台为回库目的站台
                    //已经开始
                    //还没有到达托盘码校验位置
                    Dt_TaskWCSinfo tmpMeasureOutTask = taskWCSinfoRepository.FindFirst(x =>
                    x.wcstask_type == TaskType.TaskType_Box_Pallet_Measure_Out.ToString() &&
                    x.wcstask_startPoint.Contains(backMoving_TaskWCSinfo.wcstask_endPoint) &&
                    x.wcstask_state != TaskState.TaskState_Assigned.ToString() &&
                    string.IsNullOrEmpty(x.wcstask_backUp_1));
                    if (tmpMeasureOutTask != null)
                    {
                        Console.WriteLine($"当前有该站台：【{backMoving_TaskWCSinfo.wcstask_endPoint}】的出库测量任务正在进行，回库任务：【{backMoving_TaskWCSinfo.wcstask_taskNumber}】等待执行");
                        return;
                    }

                    //string lineCode = "Measure_B";

                    //读取逻辑控制值
                    int logicValue = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Logic.ToString(), lineCode).ToString());

                    //说明工位在等待调度，准备下发任务
                    if (logicValue == 1 || logicValue == 2)
                    {
                        WriteTaskInfo.WriteTaskInfoAction(backMoving_TaskWCSinfo, client, lineCode);
                    }
                    else if (logicValue == 3)   //说明站台已经收到任务数据，等待WCS的启动指令
                    {
                        client.WriteValue(CLineInfoDBName.W_Line_Logic.ToString(), lineCode, 1);//启动任务
                    }
                    else if (logicValue == 4 || logicValue == 5)
                    {
                        if (backMoving_TaskWCSinfo.wcstask_state == TaskState.TaskState_Measure_Back_Line_Executing.ToString())
                            return;

                        //启动成功后，在此更新任务状态、上报WMS任务状态
                        WebResponseContent content1 = WMSApi.PostTaskStateToWMS(backMoving_TaskWCSinfo.wcstask_barcode, TaskState.TaskState_Measure_Back_Line_Executing.ToString());
                        if (content1.Status)
                        {
                            backMoving_TaskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Back_Line_Executing.ToString();
                            backMoving_TaskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
                            taskWCSinfoRepository.Update(backMoving_TaskWCSinfo, true);
                        }
                    }
                }

                //说明机械手在抓取轴承到测量设备，在此修改任务状态为：正在测量中
                if (workingResult)
                {
                    Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Finished.ToString());
                    if (null != executingTask)
                    {
                        WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measureing.ToString());
                        if (content.Status)
                        {
                            executingTask.wcstask_state = TaskState.TaskState_Measureing.ToString();
                            executingTask.wcstask_dispatcherTime = DateTime.Now;
                            taskWCSinfoRepository.Update(executingTask, true);
                        }
                    }
                }

                /***********************************************/
                /*****************机械手逻辑********************/
                /***********************************************/

                //查看机械手是否待测量等待状态
                bool robotReadyResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Ready.ToString(), "RobotArm").ToString());
                if (robotReadyResult)
                {
                    //通知机械手抓取轴承
                    Dt_TaskWCSinfo _taskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Finished.ToString());
                    if (_taskWCSinfo != null)
                    {
                        //查看机械手是否已经启动
                        bool robotWorkResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Working.ToString(), "RobotArm").ToString());
                        if (!robotWorkResult)//说明机械手还没启动，发送启动指令
                            client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), true);
                    }
                }
                //机械手已启动
                bool flag = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Working.ToString(), "RobotArm").ToString());
                if (flag)
                    client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), false);

                //查看机械手是否已经启动
                //bool _robotWorkResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Catch_Moving.ToString(), "RobotArm").ToString());
                //if (_robotWorkResult)//启动成功后，置位机械手启动信号为 false
                //    client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), false);
            }
            catch (Exception ex)
            {
                WriteLog.Info(MeasureStationNo).Write($"{ DateTime.Now }测量站台调度失败:{ex.Message}", MeasureStationNo);
            }
        }

    }


}