using Autofac.Core;
using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Hosting;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel.Design;
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Model.Models.System;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class SpeStackerCraneJob : IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IAgvStationService _agvStationService;


        public SpeStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IAgvStationService agvStationService)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _agvStationService = agvStationService;
        }

        public string ziche001 = "RGV104";
        public string ziche002 = "RGV107";


        public Task Execute(IJobExecutionContext context)
        {
            try
            {
                SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (speStackerCrane != null)
                {
                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);

                    //读取设备完成信息
                    if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid!=0)
                    {
                        _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid);
                    }
                    

                    if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
                    {

                        //下发RGV任务之前，先读取一下安全门状态



                        //查找RGV进行下发任务
                        Dt_Task task = GetTask(speStackerCrane.DeviceCode);
                        if (task != null)
                        {
                            //调取写入RGV小车任务
                            RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                            bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                            if (sendFlag)
                            {
                                //修改任务状态
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                        }

                    }
                }


            }
            catch (Exception ex)
            {
                //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
            }
            return Task.CompletedTask;
        }

        /// <summary>
        /// 获取任务（暂时方法if判断）
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <param name="RGVCurrentlocation"></param>
        /// <returns></returns>
        private Dt_Task? GetTask(string DeviceCode)
        {
            Dt_Task task;
            task = _taskService.QueryStackerCraneTask(DeviceCode);
            if (task != null)
            {
                //判断入库任务
                if(task.TaskType== (int)TaskInboundTypeEnum.Inbound)
                {
                    if(task.TaskState== (int)TaskInStatusEnum.RGV_InNew)
                    {
                        return task;
                    }else if(task.TaskState== (int)TaskInStatusEnum.RGV_InPickupFinish) //取货完成后，进行放货的流程
                    {
                        //判断该HCJ是否可放货
                        bool Currebool = QueryCurrentAdder(task); //判断HCJ是否可以放货
                        if (Currebool)
                        {
                            return task;
                        }
                        else { return null; }
                    }else if (task.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish) //放货完成后，进行子车取货流程
                    {
                        //默认子车在取货的地方
                        return task;
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish) //子车取货完成后，进行放货流程
                    {
                        //获取需要放货的站台
                        AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));   //获取到过道站台放货信息
                        if (aGVStation.Station_Area == 1)   //表示在外测
                        {
                            bool muchebool=MotherCarMoves(task, aGVStation);
                            if (muchebool)
                            {
                                return task;
                            }else { return null; }
                        }
                        else if(aGVStation.Station_Area == 2)   //表示在内侧
                        {
                            bool muchebool = MotherCarMovesinside(task, aGVStation);
                            if (muchebool)
                            {
                                return task;
                            }
                            else { return null; }
                        }else if (aGVStation.Station_Area == 3)     //放在过道HCJ
                        {
                            bool muchebool = HCJMotherCarMovesinside(task, aGVStation);
                            if (muchebool)
                            {
                                return task;
                            }
                            else { return null; }
                        }
                    }else if (task.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) //子车放货完成
                    {
                        AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
                        if(aGVStation.Station_Area == 1)
                        {
                            return task;
                            /*RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(task, "1021");
                            bool sendFlag = SendCommand2(standardCommands, ziche001);
                            if (sendFlag)
                            {
                                //记录下发过母车移动任务
                                _taskService.UpdateTaskStatusToNext(task);
                            }*/
                        }
                        else if (aGVStation.Station_Area == 2)      
                        {
                            RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(task, "1021");   //注意：：：：该子车需要待定去向
                            bool sendFlag = SendCommand2(standardCommands, ziche002);
                            if (sendFlag)
                            {
                                //记录下发过母车移动任务
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                        }

                        //进行移动子车

                    }
                    else if(task.TaskState == (int)TaskInStatusEnum.RGV_InZichemoveFinish) //子车移动完成后，进行
                    {
                        //获取需要放货的站台
                        AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));   //获取入库站台信息
                        if (aGVStation.Station_Area == 1)   //入库口区域的1表示写入固定的1号子车104
                        {
                            //判断子车在哪个位置
                            int zicheadder = GetZichelocation(task, ziche001);
                            if(zicheadder!= int.Parse(aGVStation.ZicheMotherinlaw))
                            {
                                return task;
                            }
                        }
                        else if(aGVStation.Station_Area == 2)      //入库口区域的1表示写入固定的1号子车107
                        {
                            int zicheadder = GetZichelocation(task, ziche002);
                            if (zicheadder != int.Parse(aGVStation.ZicheMotherinlaw))
                            {
                                return task;
                            }
                        }
                    }
                }
                else if(task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    if (task.TaskState == (int)TaskOutStatusEnum.OutNew)
                    {
                        return task;
                    }else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarFinish)
                    {
                        return task;
                    }
                    else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheFinish)
                    {
                        return task;
                    }else if(task.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish)
                    {
                        return task;
                    }else if(task.TaskState == (int)TaskOutStatusEnum.RGV_OutPickupFinish && task.CurrentAddress != "")
                    {
                        return task;
                    }
                }
            }

            return null;
        }

        //判断外侧母车位置
        private bool MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        {
            int mcadder = GetMothercarlocation(_Task, aGVStation.Motherinlaw);
            if(mcadder != 0)
            {
                if (mcadder == int.Parse(_Task.CurrentAddress))       //判断子车要去的位置，母车是否在该位置
                {
                    return true;
                }
                else
                {
                    //下发母车移动出来接货任务
                    RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, _Task.CurrentAddress);
                    
                    bool sendFlag = SendCommand2(standardCommands, aGVStation.ChildPosiDeviceCode);
                    if (sendFlag)
                    {
                        //记录下发过母车移动任务
                        _taskService.UpdateTaskStatusToNext(_Task);
                    }
                }
            }

            return false;
        }

        //判断内侧母车位置
        private bool MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            //获取外侧母车位置
            int mcadder = GetMothercarlocation(_Task, aGVStation.MotherCarDeviceCode);
            //获取内侧母车位置
            int ncadder = GetMothercarlocation(_Task, _Task.CurrentAddress);    //传入过道的地址

            if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder == aGVStation.Station_code)       //判断外侧母车位置
            {
                return true;
            }
            else
            {
                if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))    //外侧母车需要移动
                {
                    //下发母车往里面走的任务
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode);    //堆垛机入库口

                    RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //下发母车移动至入库站台位
                    bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
                    if (sendFlag)
                    {
                        //记录下发过母车移动任务
                        _taskService.UpdateTaskStatusToNext(_Task);
                    }
                }

                if (ncadder != aGVStation.Station_code)    //下发母车
                {
                    RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVStation.Station_code.ToString());
                    bool sendFlag = SendCommand2(standardCommands, aGVStation.ChildPosiDeviceCode);
                    if (sendFlag)
                    {
                        //记录下发过母车移动任务
                        _taskService.UpdateTaskStatusToNext(_Task);
                    }
                }
            }
            return false;
        }
        private bool HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)  //传进来的站台为HCJ
        {
            //获取外侧母车位置
            int mcadder = GetMothercarlocation(_Task, aGVStation.MotherCarDeviceCode);
            //获取内侧母车位置
            int ncadder = GetMothercarlocation(_Task, aGVStation.MotherCardeputy);   

            if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy))       //判断外侧母车位置
            {
                return true;
            }
            else
            {
                if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))    //外侧母车需要移动
                {
                    //下发母车往里面走的任务
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode);    //堆垛机入库口

                    RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //下发母车移动至入库站台位
                    bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
                    if (sendFlag)
                    {
                        //记录下发过母车移动任务
                        _taskService.UpdateTaskStatusToNext(_Task);
                    }
                }

                if (ncadder == int.Parse(aGVStation.MotherCardeputy))    //下发母车
                {
                    //下发母车往里面走的任务
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCardeputy);    //堆垛机入库口

                    RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //下发母车移动至入库站台位
                    bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
                    if (sendFlag)
                    {
                        //记录下发过母车移动任务
                        _taskService.UpdateTaskStatusToNext(_Task);
                    }
                }
            }
            return false;
        }

        

        public bool QueryCurrentAdder(Dt_Task task)
        {
            try
            {
                //获取需要区分是否去入库与去不合格载货台任务
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.CurrentAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return true;
                }
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum,$"判断HCJ站台是否有货信息出错，出错信息：{ex.Message}");
                throw;
            }

            return false;
        }

        //判断是否
        public bool GetMotherCarCurrentAdder(Dt_Task task)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.CurrentAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return true;
                }
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断HCJ站台是否有货信息出错，出错信息：{ex.Message}");
                throw;
            }

            return false;
        }



        /// <summary>
        /// 传入过道地址，获取母车位置
        /// </summary>
        /// <param name="task"></param>
        /// <param name="MotherCarDeviceCode">过道地址</param>
        /// <returns></returns>
        public int GetMothercarlocation(Dt_Task task,string MotherCarDeviceCode)
        {
            try
            {
                //利用入库站台地址获取母车plc
                AGVStation aGVStation =_agvStationService.GetMothercarCode(MotherCarDeviceCode);
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == aGVStation.ChildPosiDeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, aGVStation.ChildPosiDeviceCode, "RGVCurrentlocation");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                return HCJGStatus;
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断母车位置信息出错，出错信息：{ex.Message}");
                throw;
            }
        }


        /// <summary>
        /// 传入过道地址，获取子车车位置
        /// </summary>
        /// <param name="task"></param>
        /// <param name="MotherCarDeviceCode">入库站台地址</param>
        /// <returns></returns>
        public int GetZichelocation(Dt_Task task, string ChildPosiDeviceCode)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == ChildPosiDeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, ChildPosiDeviceCode, "RGVCurrentlocation");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                return HCJGStatus;
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断子车位置信息出错，出错信息：{ex.Message}");
                throw;
            }
        }




        /// <summary>
        /// 任务实体转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public RgvCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(task.CurrentAddress);
            stackerCraneTaskCommand.RGV_RGVtasktype = 2;
            stackerCraneTaskCommand.RGV_Rgvtaskid = 1;          //rgv任务号
            stackerCraneTaskCommand.RGV_Lanjiantaskid = 0;      //兰剑任务id
            return stackerCraneTaskCommand;
        }


        /// <summary>
        /// 下发移动任务
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public RgvCraneTaskCommand? ConvertMotherCarTaskCommand([NotNull] Dt_Task task,string CurrentAddress)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(CurrentAddress);
            stackerCraneTaskCommand.RGV_RGVtasktype = 3;
            stackerCraneTaskCommand.RGV_Rgvtaskid = 999;          //rgv任务号
            stackerCraneTaskCommand.RGV_Lanjiantaskid = 999;      //兰剑任务id
            return stackerCraneTaskCommand;
        }


        public void wcsWriteLog(string SCLLinStack, string Logtype, string Magessadd)
        {
            WriteLog.Write_Log("RGV", SCLLinStack + "号RGV", Logtype, new { 信息 = Magessadd });
        }



        //===========================================================HCJ协议读写查=============================================================================
        /// <summary>
        /// 查询具体地址
        /// </summary>
        /// <param name="Commonstacker"></param>
        /// <param name="SCAddress"></param>
        /// <param name="Interactivet"></param>
        /// <returns></returns>
        public DeviceProDTO? GetDeviceProDTO(CommonStackerCrane Commonstacker, string SCAddress, string Interactivet)
        {
            return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet && x.DeviceProParamType== "ReadDeviceCommand");
        }
        /// <summary>
        /// 根地址读取输送线信息
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public int GetLine(CommonStackerCrane Commonstacker, string DeviceProDataBlock)
        {
            return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
        }
        //===========================================================HCJ协议读写查===============================================================================


        public bool SendCommand2(RgvCraneTaskCommand command, string DeviceCode)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;

                DeviceProDTO? deviceProDTO =  GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (Commonstacker.IsConnected)
                {
                    if (MCGStatus == (int)RgvJobCraneStatus.Ready)
                    {
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocation, command.RGV_RGVTasklocation);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktype, command.RGV_RGVtasktype);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskid, command.RGV_Rgvtaskid);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskid, command.RGV_Lanjiantaskid);
                        return true;
                    }
                }
                return false;

            }
            catch (Exception ex)
            {
                return false;
            }
        }
    }
}