using HslCommunication;
using System;
using System.Collections.Generic;
using System.Linq;
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>() { "90100", "90200", "90300", "90400", "90500", "90600", "90700", "90800" };
        //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";
        public static void OutboundAreaDispathAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
        {
            try
            {
                //出库完成
                OutboundCompleteAction(taskWCSinfoRepository, client);
                //读取提升机是否正常
                //滚筒线状态
                string hoisterResult = client.ReadValue(CLineInfoDBName.R_Line_DeviceNormal.ToString(), hoisterResultNo).ToString();
                //提升机状态
                string result = client.Read("DB506.36.0", "bool").ToString();
                if (!bool.Parse(hoisterResult) || !bool.Parse(result))
                    return;

                Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_state == TaskState.TaskState_RGV_Received.ToString()
                 && (OutboundStationLayerNo.Contains(r.wcstask_startPoint) || OutboundStationLayerNo.Contains(r.wcstask_endPoint)));
                //有执行中的任务就不调度
                if (null != executingTask)
                {
                    //提升机层
                    string hoisterLayer = client.ReadValue(CLineInfoDBName.R_Line_Layer.ToString(), hoisterResultNo).ToString();
                    string[] locationArray = null;
                    string rgvTaskType = string.Empty;
                    //空托盘回库
                    if (executingTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
                    {
                        locationArray = executingTask.wcstask_endLocation.Split('-');
                        rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
                    }
                    //轴承出库
                    else if (executingTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
                        || executingTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
                    {
                        locationArray = executingTask.wcstask_startLocation.Split('-');
                        rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
                    }
                    //说明提升机到达了目标层
                    if (int.Parse(locationArray[0]).ToString() == hoisterLayer)
                    {
                        // 写入RGV开始执行
                        WriteRGVState(client, false);
                    }
                    return;
                }

                //client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), 1);
                //return;
                //提升机没有执行
                Dt_TaskWCSinfo currentTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString());
                if (null == currentTask)
                {
                    //      //是否有入库申请的托盘号
                    //      string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
                    //      //负载待机
                    //      bool load = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), ReInboundRequestStationNo).ToString());

                    //      if (currentModel == "Inbound")
                    //      {
                    //          Dt_TaskWCSinfo wcsTask = taskWCSinfoRepository.FindFirst(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));
                    //          if (null != wcsTask)
                    //              OutboundRequestAction(taskWCSinfoRepository, client);
                    //          else if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
                    //              ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
                    //      }
                    //      else
                    //      {
                    //          if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
                    //              ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
                    //          else
                    //              OutboundRequestAction(taskWCSinfoRepository, client);
                    //      }


                    Dt_TaskWCSinfo outboundTask = GetOutboundTask(taskWCSinfoRepository, client);
                    if (null != outboundTask)
                        OutboundRequestAction(taskWCSinfoRepository, client, outboundTask);
                    else
                    {
                        string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
                        bool load = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), ReInboundRequestStationNo).ToString());
                        if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
                            ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
                    }


                    //if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
                    //    ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
                    //else
                    //    OutboundRequestAction(taskWCSinfoRepository, client);
                }
                else
                {
                    //入库读提升机
                    string hoisterTaskNumber = client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), hoisterResultNo).ToString();
                    string hoisterBarcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), hoisterResultNo).ToString();
                    if (!"0".Equals(hoisterTaskNumber) || !"0".Equals(hoisterBarcode))
                    {
                        AddAGVTask(taskWCSinfoRepository, taskRGVinfoRepository, client, hoisterTaskNumber, hoisterBarcode);
                    }
                    else
                    {
                        string lineCode = "OutboundArea";
                        //出库读出库线
                        hoisterTaskNumber = client.ReadValue(CLineInfoDBName.W_Line_TaskNumber.ToString(), lineCode).ToString();
                        hoisterBarcode = client.ReadValue(CLineInfoDBName.W_Line_Barcode.ToString(), lineCode).ToString();
                        if (!string.IsNullOrEmpty(hoisterTaskNumber) || !"0".Equals(hoisterBarcode))
                        {
                            int outlogicValue = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Logic.ToString(), lineCode).ToString());
                            if (outlogicValue != 4)
                                return;
                            AddAGVTask(taskWCSinfoRepository, taskRGVinfoRepository, client, hoisterTaskNumber, hoisterBarcode);
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                WriteLog.Info("OutboundArea").Write($"{ DateTime.Now }出库区域调度失败:{ex.Message}", "OutboundArea");
            }
        }

        public static void AddAGVTask(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client
            , string hoisterTaskNumber, string hoisterBarcode)
        {
            Dt_TaskWCSinfo wcsTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == hoisterBarcode &&
                   r.wcstask_taskNumber == int.Parse(hoisterTaskNumber));
            if (null != wcsTask && wcsTask.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString())
            {
                Dt_TaskRGVinfo rgvInfo = taskRGVinfoRepository.FindFirst(r => r.rgvtask_barCode == hoisterBarcode
                && r.rgvtask_wcsTaskNumber == int.Parse(hoisterTaskNumber));
                if (null != rgvInfo)
                    return;

                //提升机层
                string hoisterLayer = client.ReadValue(CLineInfoDBName.R_Line_Layer.ToString(), hoisterResultNo).ToString();
                string[] locationArray = null;
                string rgvTaskType = string.Empty;
                //空托盘回库
                if (wcsTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
                {
                    locationArray = wcsTask.wcstask_endLocation.Split('-');
                    rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
                }
                //轴承出库
                else if (wcsTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
                    || wcsTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
                {
                    locationArray = wcsTask.wcstask_startLocation.Split('-');
                    rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
                }

                //说明提升机到达了目标层
                //if (int.Parse(locationArray[0]).ToString() == hoisterLayer)
                //{
                //    // 写入RGV开始执行
                //    if (WriteRGVState(client, false))
                //        return;
                rgvInfo = GetRGVTask(taskRGVinfoRepository, wcsTask, rgvTaskType);
                taskRGVinfoRepository.Add(rgvInfo, true);

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

                if (rgvTaskType == RGVTaskType.RgvTaskType_Outbound.ToString())
                    currentModel = "Outbound";
                else
                    currentModel = "Inbound";
                // }
            }

            else
                throw new Exception($"当前提升机有数据但未找到符合条件的任务,托盘号:{hoisterBarcode},任务号:{hoisterTaskNumber}");
        }
        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 < 5; 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(66);
                }
            }
            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)
            {
                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))
                {
                    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;
        }
    }
}