using SqlSugar;
using WIDESEAWCS_Core.DB.Models;

namespace WIDESEAWCS_Model.Models
{
    /// <summary>
    /// 机械手状态数据库实体
    /// </summary>
    /// <remarks>
    /// 对应数据库表 Dt_RobotState，使用 Version 字段实现乐观并发控制。
    /// 复杂对象（RobotCrane、CurrentTask、数组等）以 JSON 字符串存储。
    /// </remarks>
    [SugarTable(nameof(Dt_RobotState), "机械手状态表")]
    public class Dt_RobotState : BaseEntity
    {
        /// <summary>
        /// 主键 ID
        /// </summary>
        [SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnDescription = "主键ID")]
        public int Id { get; set; }

        /// <summary>
        /// 机械手 IP 地址，唯一索引
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "机械手IP地址")]
        public string IPAddress { get; set; } = string.Empty;

        /// <summary>
        /// 版本号，用于乐观并发控制
        /// </summary>
        /// <remarks>
        /// 每次更新时自增。更新时 WHERE IPAddress = @ip AND Version = @expectedVersion。
        /// 如果影响行数为 0，说明版本不匹配，返回 false。
        /// </remarks>
        [SugarColumn(ColumnDescription = "版本号（乐观锁）")]
        public long Version { get; set; }

        /// <summary>
        /// 是否已订阅消息事件
        /// </summary>
        [SugarColumn(ColumnDescription = "是否已订阅消息事件")]
        public bool IsEventSubscribed { get; set; }

        /// <summary>
        /// 机械手运行模式
        /// </summary>
        /// <remarks>1: 手动模式, 2: 自动模式</remarks>
        [SugarColumn(ColumnDescription = "运行模式", IsNullable = true)]
        public int? RobotRunMode { get; set; }

        /// <summary>
        /// 机械手控制模式
        /// </summary>
        /// <remarks>1: 客户端控制, 2: 其他</remarks>
        [SugarColumn(ColumnDescription = "控制模式", IsNullable = true)]
        public int? RobotControlMode { get; set; }

        /// <summary>
        /// 机械手手臂抓取对象状态
        /// </summary>
        /// <remarks>0: 无物料（手臂空闲）, 1: 有物料（已抓取货物）</remarks>
        [SugarColumn(ColumnDescription = "手臂抓取状态", IsNullable = true)]
        public int? RobotArmObject { get; set; }

        /// <summary>
        /// 机械手设备基础信息（JSON 序列化）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "设备信息JSON", IsNullable = true)]
        public string? RobotCraneJson { get; set; }

        /// <summary>
        /// 机械手初始化完成回到待机位状态
        /// </summary>
        /// <remarks>Possible values: "Homed", "Homing"</remarks>
        [SugarColumn(Length = 50, ColumnDescription = "回零状态", IsNullable = true)]
        public string? Homed { get; set; }

        /// <summary>
        /// 机械手当前正在执行的动作
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "当前动作", IsNullable = true)]
        public string? CurrentAction { get; set; }

        /// <summary>
        /// 机械手当前运行状态
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "运行状态", IsNullable = true)]
        public string? OperStatus { get; set; }

        /// <summary>
        /// 最近一次取货完成的位置数组（JSON）
        /// </summary>
        [SugarColumn(Length = 500, ColumnDescription = "取货位置数组JSON", IsNullable = true)]
        public string? LastPickPositionsJson { get; set; }

        /// <summary>
        /// 最近一次放货完成的位置数组（JSON）
        /// </summary>
        [SugarColumn(Length = 500, ColumnDescription = "放货位置数组JSON", IsNullable = true)]
        public string? LastPutPositionsJson { get; set; }

        /// <summary>
        /// 电池/货位条码列表（JSON）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "电芯条码列表JSON", IsNullable = true)]
        public string? CellBarcodeJson { get; set; }

        /// <summary>
        /// 机械手当前正在执行的任务（JSON 序列化）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "当前任务JSON", IsNullable = true)]
        public string? CurrentTaskJson { get; set; }

        /// <summary>
        /// 是否需要执行拆盘任务
        /// </summary>
        [SugarColumn(ColumnDescription = "是否拆盘任务")]
        public bool IsSplitPallet { get; set; }

        /// <summary>
        /// 是否需要执行组盘任务
        /// </summary>
        [SugarColumn(ColumnDescription = "是否组盘任务")]
        public bool IsGroupPallet { get; set; }

        /// <summary>
        /// 机器人已处理的任务总数
        /// </summary>
        [SugarColumn(ColumnDescription = "已处理任务总数")]
        public int RobotTaskTotalNum { get; set; }

        /// <summary>
        /// 是否处于假电芯补充模式
        /// </summary>
        [SugarColumn(ColumnDescription = "是否假电芯模式")]
        public bool IsInFakeBatteryMode { get; set; }

        /// <summary>
        /// 当前批次起始编号
        /// </summary>
        [SugarColumn(ColumnDescription = "当前批次编号")]
        public int CurrentBatchIndex { get; set; } = 1;

        /// <summary>
        /// 换盘任务当前阶段
        /// </summary>
        [SugarColumn(ColumnDescription = "换盘阶段")]
        public int ChangePalletPhase { get; set; }

        /// <summary>
        /// 是否扫码NG
        /// </summary>
        [SugarColumn(ColumnDescription = "是否扫码NG")]
        public bool IsScanNG { get; set; }

        /// <summary>
        /// 是否电芯到位
        /// </summary>
        [SugarColumn(ColumnDescription = "电芯是否到位")]
        public bool BatteryArrived { get; set; }
    }
}