using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// 四向车创建容器搬运任务
    /// </summary>
    public class FOURBOTnewMovePodTask
    {
        public string warehouseID { get; set; } = "HETU";
        public string clientCode { get; set; } = "WCS";
        public string requestID { get; set; } = DateTime.Now.ToString("yyyyMMddHHmmss");
        /// <summary>
        /// 优先级
        /// </summary>
        public int priority { get; set; }

        /// <summary>
        /// 搬运类型
        /// </summary>
        public int srcType { get; set; } = 1;

        /// <summary>
        /// 容器号
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// 业务ID
        /// </summary>
        public string bizID { get; set; } = "";

        /// <summary>
        /// 是否替换该容器的其他任务
        /// 0-不替换；
        /// 1-替换
        /// </summary>
        public int replacePodTask { get; set; } = 0;

        /// <summary>
        /// 目标位置
        /// </summary>
        public string destination { get; set; }

        /// <summary>
        /// 目标类型
        /// 1-导航点；
        /// 2-储位；
        /// 3-存储区；
        /// 5-工作站；
        /// 6-叠盘；
        /// 7-巷道
        /// </summary>
        public int? desType { get; set; }

        /// <summary>
        /// 目标导航点ID
        /// desType=1时必传
        /// </summary>
        public string desNodeID { get; set; }

        /// <summary>
        /// 目标储位号
        /// desType=2时必传
        /// </summary>
        public string desStorageID { get; set; }

        /// <summary>
        /// 目标区域编号
        /// desType=3/7时必传
        /// </summary>
        public string desZoneCode { get; set; }

        /// <summary>
        /// 目标站点列表
        /// desType=5/6时必传
        /// </summary>
        public string desStationCodes { get; set; }

        /// <summary>
        /// 储位选择偏好
        /// desType=7时有效
        /// </summary>
        public object storagePreference { get; set; }

        /// <summary>
        /// 任务扩展参数
        /// </summary>
        public object taskExt { get; set; }

        /// <summary>
        /// 终点扩展参数
        /// </summary>
        public object desExt { get; set; }

        /// <summary>
        /// 业务扩展参数
        /// </summary>
        public object bizExt { get; set; }

    }

    /// <summary>
    /// 储位选择偏好DTO
    /// </summary>
    public class StoragePreferenceDto
    {
        /// <summary>
        /// 候选储位列表
        /// </summary>
        public List<string> candidateStorageIds { get; set; } = new List<string>();

        /// <summary>
        /// 物料类型
        /// </summary>
        public string materialClass { get; set; }
    }

    /// <summary>
    /// 任务扩展参数DTO
    /// </summary>
    public class TaskExtDto
    {
        /// <summary>
        /// 指定运力组中的小车搬运
        /// </summary>
        public string robotGroupId { get; set; }

        /// <summary>
        /// 顶盘旋转模式
        /// 0-异步旋转
        /// 1-同步旋转
        /// </summary>
        public int turnMode { get; set; } = 0;

        /// <summary>
        /// 载货时最大车速(mm/s)
        /// </summary>
        public int? maxSpeed { get; set; }

        /// <summary>
        /// 载货时最大加速度(mm/s²)
        /// </summary>
        public int? maxAcc { get; set; }

        /// <summary>
        /// 任务超时失败时间(秒)
        /// </summary>
        public int timeoutFailed { get; set; } = 86400;

        /// <summary>
        /// 搬运完成后行为
        /// 0-不限制
        /// 1-立刻离开
        /// </summary>
        public int autoToRest { get; set; } = 0;

        /// <summary>
        /// 搬运完成后是否保持原地
        /// 0-不限制
        /// 1-保持原地
        /// </summary>
        public int keepRobot { get; set; } = 0;

        /// <summary>
        /// 保持原地最长时长(分钟)
        /// </summary>
        public int keepRobotTimeout { get; set; } = 5;

        /// <summary>
        /// 叠盘类型
        /// 0-无意义
        /// 2-叠盘或整垛补给
        /// </summary>
        public int? foldType { get; set; }

        /// <summary>
        /// 叠盘数量
        /// 1-叠一个；
        /// >1-整垛补给
        /// </summary>
        public int? foldNum { get; set; }

        /// <summary>
        /// 是否外形检测
        /// 0-无需
        /// 1-检测
        /// </summary>
        public int check { get; set; } = 0;

        /// <summary>
        /// 是否覆膜
        /// 0-无需
        /// 1-覆膜
        /// </summary>
        public int cover { get; set; } = 0;

        /// <summary>
        /// 是否缠膜
        /// 0-无需
        /// 1-缠膜
        /// </summary>
        public int wrap { get; set; } = 0;

        /// <summary>
        /// 货型信息
        /// </summary>
        public string cargoType { get; set; }

        /// <summary>
        /// 目标站点禁用时处理方式
        /// taskFail-任务失败
        /// taskWait-任务等待
        /// </summary>
        public string whenTargetDisabled { get; set; } = "taskWait";

        /// <summary>
        /// 保留字段
        /// </summary>
        public int? delayDispatch { get; set; }
    }

    /// <summary>
    /// 终点扩展参数DTO
    /// </summary>
    public class DesExtDto
    {
        /// <summary>
        /// 是否放下容器
        /// 0-不放下
        /// 1-放下
        /// </summary>
        public int unload { get; set; } = 0;

        /// <summary>
        /// 小车放下容器后姿态朝向
        /// 枚举：0(x正)、1.57(y正)、3.14(x负)、4.71(y负)
        /// </summary>
        public float? robotFace { get; set; }

        /// <summary>
        /// 容器搬运到位的姿态朝向
        /// 枚举：0(x正)、1.57(y正)、3.14(x负)、4.71(y负)
        /// </summary>
        public float? podFace { get; set; }
    }

    /// <summary>
    /// 业务扩展参数DTO
    /// </summary>
    public class BizExtDto
    {
        /// <summary>
        /// 业务类型
        /// </summary>
        public string bizType { get; set; } = "";

        /// <summary>
        /// 出库波次
        /// </summary>
        public string waveID { get; set; } = "";
    }
}