using HslCommunication;
using Microsoft.AspNetCore.Components.Routing;
using Newtonsoft.Json;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.ServiceLog;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
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.StackerCraneJob;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class CommonStackerCraneJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly ILocationInfoRepository _locationInfoRepository;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService,  ILocationInfoRepository locationInfoRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _locationInfoRepository = locationInfoRepository;
        }

        public Task Execute(IJobExecutionContext context)
        {
            WriteDebug("大堆垛机运行日志", "开始时间" + DateTime.Now);
            WriteDebug("大堆垛机运行日志", $"大堆垛机任务执行中...");
            //CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
            CommonStackerCrane commonStackerCrane = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC01") as CommonStackerCrane;
            try
            {  
                if (commonStackerCrane != null)
                {
                    if (!commonStackerCrane.IsEventSubscribed)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }

                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                        
                        if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            Dt_Task? task = GetTask(commonStackerCrane);
                            if (task != null)
                            {
                                WriteDebug("大堆垛机运行日志", $"大堆垛机任务号{task.TaskNum}");
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                      
                                        if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                        {
                                            _taskService.UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.SC_InExecuting);
                                            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库执行中");
                                        }
                                        else if(task.TaskType == (int)TaskOutboundTypeEnum.OutInventory|| task.TaskType == (int)TaskOutboundTypeEnum.OutPick|| task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
                                        {
                                            _taskService.UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutExecuting);
                                            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库执行中");
                                        }
                                    }
                                    else
                                    {
                                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, "堆垛机执行任务命令失败！");
                                        WriteDebug(nameof(CommonStackerCraneJob), "堆垛机执行任务命令失败！");
                                    }
                                }
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(CommonStackerCraneJob), "大堆垛机执行任务异常！",ex);
            }


            //查询提升机/组立机信号
            //Task.Run(delegate
            //{
                try
                {
                    if (commonStackerCrane != null)
                    {
                       
                        Dt_Task? task1001 = _taskService.QueryStackerCraneTaskByAGVRequest("SC01");
                        if (task1001 != null)
                        {
                            //读取提升机信号，确定是否可以进入
                            int IsAllow = 0;
                            if (task1001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
                            {
                                IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
                            }
                            else if (task1001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
                            {
                                IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.8.0");
                            }
                            if (IsAllow == 1)//如果为1，则允计AGV进入，回传WMS
                            {
                                MESSendCMD sendcmd = new MESSendCMD { cmd = 2001, task_id = task1001.TaskNum, status = 6 };
                                MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                                if (res != null && res.code != 0)
                                {
                                    WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task1001.TaskNum}");
                                }
                            }
                        }
                        Dt_Task? task3001 = _taskService.QueryStackerCraneTaskByAGVPutFinish("SC01");
                        if (task3001 != null)
                        {
                            int IsFinish = 0;
                            int IsWriteOne = 0;
                            int IsWriteTwo = 0;
                            if (task3001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
                            {
                                //提升机是否处于就绪状态
                                int IsReady= commonStackerCrane.Communicator.Read<short>("DB2.0.0");
                                //写入提升信息
                                IsWriteOne = commonStackerCrane.Communicator.Read<short>("DB1.0.0");
                                if(IsWriteOne == 0&& IsReady == 1) 
                                {
                                   commonStackerCrane.Communicator.Write<short>("DB1.0.0", 1);
                                }
                                //读取提升机信号，确定是否提升完成
                               
                              IsFinish=  commonStackerCrane.Communicator.Read<short>("DB2.2.0");
                            }
                            else if (task3001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
                            {
                                //提升机是否处于就绪状态
                                int IsReady = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
                                //写入提升信息
                                IsWriteTwo = commonStackerCrane.Communicator.Read<short>("DB1.6.0");
                                if (IsWriteTwo == 0 && IsReady == 1)
                                {
                                    commonStackerCrane.Communicator.Write<short>("DB1.6.0", 1);
                                }    
                                //读取提升机信号，确定是否提升完成
                                IsFinish = commonStackerCrane.Communicator.Read<short>("DB2.10.0");
                            }
                            if (IsFinish == 1)//如果为1，则表示提升完成，回传WMS
                            {
                                MESSendCMD sendcmd = new MESSendCMD { cmd = 2002, task_id = task3001.TaskNum, status = 6 };
                                MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                                string inparam = JsonConvert.SerializeObject(sendcmd);
                                WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS,入参：{inparam}");

                                if (res != null && res.code != 0)
                                {
                                    WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task3001.TaskNum}");
                                }
                            }
                        }

                        //小堆垛机出库完成任务
                        Dt_Task? taskSmall = _taskService.QueryStackerCraneFinishTask();
                        if(taskSmall != null)
                        {
                            //根据任务源地址确定写入PLC位置 Depth
                            Dt_LocationInfo location = _locationInfoRepository.QueryFirst(x=>x.LocationCode==taskSmall.SourceAddress);
                            if(location != null)
                            {
                                string[] Levels = taskSmall.Remark.Split("-");
                                if (Levels.Length == 2)
                                {
                                    if (!string.IsNullOrEmpty(Levels[0]) && !string.IsNullOrEmpty(Levels[1]))
                                    {
                                        int level = Convert.ToInt16(Levels[0]) - Convert.ToInt16(Levels[1]);

                                        //剩余层数写入
                                        bool issuccess = commonStackerCrane.Communicator.Write<short>("DB28." + location.Depth + ".0", Convert.ToInt16(level));
                                        WriteDebug(nameof(CommonStackerCraneJob), $"剩余层数信号写入{level}-任务号{taskSmall.TaskNum}");


                                        //如果当前提取层数等于总层数，则表示料车所有的层数取完
                                        if (level == 0)
                                        {
                                            //源地址（暂存位）对应的目标地址（组立机）location.Remark 
                                            if (!string.IsNullOrEmpty(location.Remark))
                                            {
                                                //根据目标地址查询组立机站点信息，获取写入整车完成的DB块 Depth
                                                Dt_LocationInfo location2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == location.Remark);
                                            //整车完成写入层数
                                            int sn = 0;
                                            if(taskSmall.SourceAddress== "SC01-001-006-001"|| taskSmall.SourceAddress == "SC01-001-012-001"|| taskSmall.SourceAddress == "SC01-001-018-001" || taskSmall.SourceAddress == "SC01-001-022-001"|| taskSmall.SourceAddress == "SC01-001-026-001")
                                            {
                                                sn = 1;
                                            }
                                            else if(taskSmall.SourceAddress == "SC01-001-007-001" || taskSmall.SourceAddress == "SC01-001-013-001" || taskSmall.SourceAddress == "SC01-001-019-001" || taskSmall.SourceAddress == "SC01-001-023-001" || taskSmall.SourceAddress == "SC01-001-027-001")
                                            {
                                                sn = 2;
                                            }
                                            else
                                            {
                                                sn = 3;
                                            }
                                            bool issuccess2 = commonStackerCrane.Communicator.Write<short>("DB28." + location2.Depth+".0", Convert.ToInt16(sn));
                                                if (issuccess2&&issuccess)
                                                {
                                                    _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
                                                    _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
                                                }
                                                else
                                                {
                                                    WriteDebug(nameof(CommonStackerCraneJob), $"整车完成信号写入失败！任务号{taskSmall.TaskNum}");
                                                }
                                            }

                                        }
                                        else
                                        {

                                            if (issuccess)
                                            {
                                                _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
                                                _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
                                            }
                                            else
                                            {
                                                WriteDebug(nameof(CommonStackerCraneJob), $"剩余层数信号写入失败！任务号{taskSmall.TaskNum}");
                                            }
                                        }

                                    }
                                }
                            }
                            
                        }
                   
                }
                }
                catch (Exception ex)
                {
                    WriteError(nameof(CommonStackerCraneJob), "查询或写入PLC状态失败！", ex);
                }
            WriteDebug("大堆垛机运行日志", "结束时间" + DateTime.Now);
            //});
            return Task.CompletedTask;
        }

        /// <summary>
        /// 任务完成事件订阅的方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
        {
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
            }
        }

        /// <summary>
        /// 获取任务
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            return task;
        }

        /// <summary>
        /// 出库任务判断出库站台是否被占用
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
        private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
        {
            Dt_Router? router = _routerService.QueryNextRoutes(task.Roadway, task.NextAddress).FirstOrDefault();
            if (router != null)
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode);
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    if (conveyorLine.IsOccupied(router.ChildPosi))//出库站台未被占用
                    {
                        return task;
                    }
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{router.ChildPosiDeviceCode}】对应的通讯对象，无法判断出库站台是否被占用");
                }
            }
            else
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法校验站台");
            }
            return null;
        }

        /// <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 StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();

            stackerCraneTaskCommand.Barcode = task.PalletCode;
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            string[] SourceCodes = task.SourceAddress.Split("-");
            if (SourceCodes.Length == 4)
            {
                stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceCodes[1]);
                stackerCraneTaskCommand.StartColumn = Convert.ToInt16(SourceCodes[2]);
                stackerCraneTaskCommand.StartLayer = Convert.ToInt16(SourceCodes[3]);
            }
            else
            {
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                return null;
            }
            string[] targetCodes = task.TargetAddress.Split("-");
            if (targetCodes.Length == 4)
            {
                stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
                stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
            }
            else
            {
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务目标地址配置错误");
                return null;
            }
            return stackerCraneTaskCommand;
        }


    }
}