using Microsoft.IdentityModel.Tokens;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks
{
    public partial class AGV_CPJob
    {
        public void SendAGVTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.DeviceCode=="AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();

                if (newTasks.Count>0)
                {
                    foreach (var task in newTasks)
                    {
                        try
                        {
                            Guid guid = Guid.NewGuid(); 
                            AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
                            {
                                SysToken=guid.ToString().Replace("-",""),
                                ReceiveTaskID=task.TaskNum.ToString(),
                                MapCode="01",
                                Variables=new List<PointDetail>()
                            };
                            Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x=>x.StationCode==task.CurrentAddress);
                            Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
                            //添加任务路径及高度
                            if (stationMangerStart !=null && stationMangerEnd != null)
                            {
                                PointDetail pointDetail1 = new PointDetail()
                                {
                                    Code= "GoodPoint",
                                    Value=stationMangerStart.AGVStationCode
                                };
                                //判断是否有前置点
                                if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
                                {
                                    PointDetail pointDetail2 = new PointDetail()
                                    {
                                        Code = "CostPoint",
                                        Value = stationMangerStart.AGVFrontCode
                                    };
                                    agvTaskSend.Variables.Add(pointDetail2);
                                }
                                PointDetail pointDetail3 = new PointDetail()
                                {
                                    Code = "PointB",
                                    Value = stationMangerEnd.AGVStationCode
                                };
                                //判断是否有前置点
                                if (!string.IsNullOrEmpty(stationMangerEnd.AGVFrontCode))
                                {
                                    PointDetail pointDetail4 = new PointDetail()
                                    {
                                        Code = "PointA",
                                        Value = stationMangerEnd.AGVFrontCode
                                    };
                                    agvTaskSend.Variables.Add(pointDetail4);
                                }
                                PointDetail pointDetail5 = new PointDetail()
                                {
                                    Code = "QUQTH",
                                    Value = stationMangerStart.AGVStationHeight.ToString()
                                };
                                PointDetail pointDetail6 = new PointDetail()
                                {
                                    Code = "FHMH",
                                    Value = stationMangerEnd.AGVStationHeight.ToString()
                                };
                                agvTaskSend.Variables.Add(pointDetail1);
                                agvTaskSend.Variables.Add(pointDetail3);
                                agvTaskSend.Variables.Add(pointDetail5);
                                agvTaskSend.Variables.Add(pointDetail6);
                            }
                            else
                            {
                                throw new Exception("未找到AGV站点");
                            }
                            //取放任务模版
                            if (stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT"))//请求放
                            {
                                agvTaskSend.TaskCode = "DUIGAO1";
                                if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
                                {
                                    agvTaskSend.TaskCode = "DUOLUN1";
                                }
                            }
                            else if (!stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT"))//请求取
                            {
                                agvTaskSend.TaskCode = "DUIGAO2";
                                if (stationMangerStart.StationType==998 || stationMangerEnd.StationType == 998)//潜伏顶升车
                                {
                                    agvTaskSend.TaskCode = "DUOLUN2";
                                }
                            }
                            else if (!stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT"))//请求取放
                            {
                                agvTaskSend.TaskCode = "DUIGAO3";
                                if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
                                {
                                    agvTaskSend.TaskCode = "DUOLUN3";
                                }
                            }
                            else if (stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT"))//无请求
                            {
                                agvTaskSend.TaskCode = "DUIGAO4";
                                if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
                                {
                                    agvTaskSend.TaskCode = "DUOLUN4";
                                }
                            }
                            if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
                            {
                                agvTaskSend.Variables.FirstOrDefault(x => x.Code == "FHMH").Value = "0";
                                agvTaskSend.Variables.FirstOrDefault(x => x.Code == "GoodPoint").Value = "";
                                //下发任务AGV任务集群
                                agvTaskSend.AgvGroupCode = "QianF";
                                PointDetail pointDetail2 = new PointDetail()
                                {
                                    Code = "CostPoint",
                                    Value = stationMangerStart.AGVStationCode
                                };
                                agvTaskSend.Variables.Add(pointDetail2);
                            }
                            //延时
                            Thread.Sleep(500);
                            //发送AGV任务
                            WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
                            if (!content.Status)
                                throw new Exception(content.Message);
                            task.Dispatchertime = DateTime.Now;
                            _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
                            Thread.Sleep(200);
                        }
                        catch (Exception ex)
                        {
                            task.TaskState = TaskStatusEnum.Exception.ObjToInt();
                            task.ExceptionMessage = ex.Message;
                        }
                    }
                    //更新任务
                    if (newTasks.Count > 0)
                    {
                        _taskService.UpdateData(newTasks);
                    }
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(AGV_CPJob), ex.Message, ex);
            }
        }
    }
}