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.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
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.Repository;
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 DoubleStackerCraneJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IDeviceInfoService _deviceInfoService;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
        private readonly ILocationInfoRepository _locationInfoRepository;

        public DoubleStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDeviceInfoService deviceInfoService, IDeviceInfoRepository deviceInfoRepository, ILocationInfoRepository locationInfoRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _deviceInfoService = deviceInfoService;
            _deviceInfoRepository = deviceInfoRepository;
            _locationInfoRepository = locationInfoRepository;
        }

        public  Task Execute(IJobExecutionContext context)
        {
            WriteDebug("小堆垛机运行日志", "开始时间" + DateTime.Now);
            CommonStackerCrane? stackerCraneOne = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC02") as CommonStackerCrane;
            CommonStackerCrane? stackerCraneTwo = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC03") as CommonStackerCrane;
            WriteDebug(nameof(DoubleStackerCraneJob), $"小堆垛机任务执行中...");
          
            try
            {
               
                Dt_Task? task = GetTask();
                
                if (task != null)
                {
                    WriteDebug("小堆垛机运行日志", $"小堆垛机任务号{task.TaskNum}");
                    CommonStackerCrane? StackerCrane = GetStrackerCrane(task, stackerCraneOne, stackerCraneTwo);
                    if (StackerCrane != null)
                    {
                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        if (stackerCraneTaskCommand != null)
                        {
                            bool sendFlag = StackerCrane.SendCommand(stackerCraneTaskCommand); ;
                            if (sendFlag)
                            {
                                _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(DoubleStackerCraneJob), "堆垛机执行任务命令失败！");
                            }
                        }

                    }
                    else
                    {
                        WriteDebug(nameof(DoubleStackerCraneJob), "未查询到当前可以执行上料任务的小堆垛机！");
                    }

                }

            }
            catch (Exception ex)
            {
                WriteError(nameof(CommonStackerCraneJob), "小堆垛机执行任务异常！", ex);
            }

            //读取堆垛机任务号和任务完成确认状态
            //Task.Run(delegate
            //{
               
                try
                {
                    if (stackerCraneOne != null)
                    {    
                        byte IsFinish = stackerCraneOne.Communicator.Read<byte>("DB106.22");
                        int tasknum = stackerCraneOne.Communicator.Read<int>("DB106.18");
                        if (IsFinish == 6)
                        {
                            if (stackerCraneOne.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                            {
                                //暂时 先写5:完成确认 信号
                                _taskService.StackCraneTaskCompleted(tasknum);
                                stackerCraneOne.SetValue(StackerCraneDBName.WorkType, 5);

                            }
                        }
                    }

                    if (stackerCraneTwo != null)
                    {
                        //读取堆垛机任务号和任务完成确认状态
                        byte IsFinish = stackerCraneTwo.Communicator.Read<byte>("DB106.22");
                        int tasknum = stackerCraneTwo.Communicator.Read<int>("DB106.18");
                        if (IsFinish == 6)
                        {
                            if (stackerCraneTwo.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                            {
                                _taskService.StackCraneTaskCompleted(tasknum);
                                stackerCraneTwo.SetValue(StackerCraneDBName.WorkType, 5);
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    WriteError(nameof(DoubleStackerCraneJob), "查询或写入PLC状态失败！", ex);
                }


            //});

            WriteDebug("小堆垛机运行日志", "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()
        {
            Dt_Task task;
            task = _taskService.QueryStackerCraneTask();
            return task;
        }

        /// <summary>
        /// 查询上料的堆垛机,先查询默认堆垛机，如果不正常，再查询另外一台堆垛机，如果都不正常返回null
        /// </summary>
        /// <returns></returns>
        private CommonStackerCrane? GetStrackerCrane(Dt_Task task, CommonStackerCrane stackerCraneOne, CommonStackerCrane stackerCraneTwo)
        {
            if(task.Roadway=="SC02")
            {
                if (stackerCraneOne != null)
                {

                    if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            return stackerCraneOne;
                        }

                    }
                    else//SC02不能正常工作状态,这里需要判断sc02是否禁用，如果已禁用，才可以启动sc03
                    {
                        Dt_DeviceInfo deviceSC02 = _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC02");

                        if (deviceSC02.DeviceStatus=="0"&& stackerCraneTwo != null)
                        {
                            //if (!stackerCraneTwo.IsEventSubscribed)
                            //{
                            //    stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                            //}
                            if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
                            {
                                //stackerCraneTwo.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                                if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                                {
                                    //todo:任务表中的RoadWay切换为SC03

                                    return stackerCraneTwo;
                                }
                            }

                        }


                    }
                }
                else
                {
                    if(stackerCraneTwo != null)
                    {
                        if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
                        {
                            if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                            {
                                //todo:任务表中的RoadWay切换为SC03

                                return stackerCraneTwo;
                            }
                        }
                    }

                }
            }
            else if (task.Roadway=="SC03")
            {
                if (stackerCraneTwo != null)
                 {
                //    if (!stackerCraneTwo.IsEventSubscribed)
                //    {
                //        stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                //    }
                    if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        //stackerCraneTwo.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                        if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            return stackerCraneTwo;
                        }
                    }
                    else//SC03不能正常工作状态,这里需要判断sc03是否禁用，如果已禁用，才可以启动sc02
                    {
                        Dt_DeviceInfo deviceSC03 = _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC03");
                        if (deviceSC03.DeviceStatus=="0"&&stackerCraneOne != null)
                        {
                            //if (!stackerCraneOne.IsEventSubscribed)
                            //{
                            //    stackerCraneOne.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                            //}
                            if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
                            {
                                //stackerCraneOne.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                                if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                                {
                                    //todo：任务表中的RoadWay切换为SC03
                                    return stackerCraneOne;
                                }
                            }
                        }

                    }
                }
                else
                {
                    if(stackerCraneOne != null)
                    {
                        if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
                        {
                            if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                            {
                                return stackerCraneOne;
                            }

                        }

                    }
                }

            }
            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;
            if(string.IsNullOrEmpty(task.Remark))//总层数和层数是否为空
            {
                return null;
            }
            string[] Levels = task.Remark.Split("-");
            if (Levels.Length == 2)
            {
                //托盘类型 1:9层   2:4层
                if (!string.IsNullOrEmpty(Levels[0]))
                {
                    if (Levels[0].ToString()=="9")
                    {
                        stackerCraneTaskCommand.TrayType = 1;
                    }
                    else 
                    {
                        stackerCraneTaskCommand.TrayType = 2;
                    }   
                }
                //料车具体的层数
                if (!string.IsNullOrEmpty(Levels[1]))
                {  
                   stackerCraneTaskCommand.StartLayer =Convert.ToInt16(Levels[1]);
                }
            }
            else
            {
                return null;
            }


            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;
        }


    }
}