using WIDESEAWCS_Common.AGVEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks.AGVJob
{
    public class UpdateTaskAGV
    {
        private static int _readUpdateAGVTaskSignalso = 0;

        public void UpdateTask2(AGV plcClient, ITaskRepository _taskRepository)
        {
            //TODO: Update the task status and result in the database
            if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 1) == 0)
            {
                try
                {
                    if (plcClient == null)
                    {
                        return;
                    }
                    //读取任务状态

                    var taskFbInteractiveR = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
                    var taskFbInteractive2 = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveW.ToString()).FirstOrDefault().DeviceProAddress;
                    var resetTaskFbInteractiveR = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.resetTaskFbInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
                    var taskIDFb = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskIDFb.ToString()).FirstOrDefault().DeviceProAddress;
                    var taskStatusFb = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskStatusFb.ToString()).FirstOrDefault().DeviceProAddress;
                    int taskFbInteractive = plcClient.Communicator.Read<int>(taskFbInteractiveR);
                    int taskFbInteractiveW = plcClient.Communicator.Read<int>(taskFbInteractive2);
                    int resetTaskFbInteractiver = plcClient.Communicator.Read<int>(resetTaskFbInteractiveR);
                    //0初始状态 1 RCS更新了一条任务状态
                    if (resetTaskFbInteractiver == 1)
                    {
                        plcClient.Communicator.Write(taskFbInteractive2, 0);
                        for (int i = 0; i < 5; i++)
                        {
                            Thread.Sleep(300);
                            var agvnumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                            if (agvnumber != 0)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 0);
                            }
                            else
                            {
                                break;
                            }
                        }
                    }
                    if (1 == taskFbInteractive && taskFbInteractiveW == 0)
                    {
                        string taskId = plcClient.Communicator.Read<int>(taskIDFb).ToString();//任务ID
                        if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
                        int taskState = plcClient.Communicator.Read<int>(taskStatusFb);//1起点执行中,2起点已完成,3终点执行中,4终点已完成
                        if (0 == taskState)//无含义
                            return;
                        //WriteLog.Info("AGV更新任务状态").Write("任务号" + taskId + "任务状态" + taskState, "AGV更新任务状态");
                        Dt_Task agvTask = _taskRepository.QueryFirst(r => r.TaskNum.ToString() == taskId);

                        if (1 == taskState)//任务起点执行中
                        {
                            if (null == agvTask)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点执行中状态确认1", "AGV更新任务状态");
                            }
                            if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InExecuting)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点执行中状态确认1", "AGV更新任务状态");
                            }
                            int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                            agvTask.TaskState = nextStatus;

                            _taskRepository.UpdateData(agvTask);
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(300);
                                var agvnumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                                if (agvnumber != 1)
                                {
                                    plcClient.Communicator.Write(taskFbInteractive2, 1);
                                }
                                else
                                {
                                    break;
                                }
                            }
                            //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + "任务起点执行中状态确认1", "AGV更新任务状态");
                        }
                        else if (2 == taskState)//任务起点已完成
                        {
                            if (null == agvTask)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
                                return;
                            }
                            if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
                            }
                            else if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InExecuting)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号的任务状态不是起点执行中，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
                            }

                            int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                            agvTask.TaskState = nextStatus;

                            _taskRepository.UpdateData(agvTask);
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(300);
                                var agvnumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                                if (agvnumber != 1)
                                {
                                    plcClient.Communicator.Write(taskFbInteractive2, 1);
                                }
                                else
                                {
                                    break;
                                }
                            }
                            //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
                        }
                        else if (3 == taskState)//任务终点执行中
                        {
                            if (null == agvTask)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
                            }
                            if (agvTask.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
                            }

                            int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                            agvTask.TaskState = nextStatus;

                            _taskRepository.UpdateData(agvTask);
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(300);
                                var agvnumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                                if (agvnumber != 1)
                                {
                                    plcClient.Communicator.Write(taskFbInteractive2, 1);
                                }
                                else
                                {
                                    break;
                                }
                            }
                            //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
                        }
                        else if (4 == taskState)//任务终点完成
                        {
                            if (null == agvTask)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
                                return;
                            }
                            else if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InExecuting)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 1);
                                //throw new Exception("任务状态更改为4终点已完成失败,任务ID:" + agvTask.agv_tasknum + DateTime.Now + ",任务状态不是终点执行中!");
                            }

                            //agvtask_HtyRepository.AddTaskHistory(agvTask, OperateType.Finished.ToString());
                            _taskRepository.DeleteData(agvTask);
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(300);
                                var agvnumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                                if (agvnumber != 1)
                                {
                                    plcClient.Communicator.Write(taskFbInteractive2, 1);
                                }
                                else
                                {
                                    break;
                                }
                            }
                            //WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
                        }
                        else if (5 == taskState)
                        {
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                        }
                    }
                    //if (taskFbInteractive == 1 && taskFbInteractiveW == 1)//反馈没收到重新反馈
                    //    plcClient.Communicator.Write(taskFbInteractive2, 0);
                    if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
                    {
                        plcClient.Communicator.Write(taskFbInteractive2, 0);
                        for (int i = 0; i < 5; i++)
                        {
                            Thread.Sleep(300);
                            var agvnumber = Convert.ToInt32(plcClient.Communicator.Read<int>(taskFbInteractive2));
                            if (agvnumber != 0)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 0);
                            }
                            else
                            {
                                break;
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    //WriteLog.Info("AGV更新任务状态").Write("WCS接收AGV任务反馈异常" + ex.Message.ToString() + DateTime.Now, "AGV更新任务状态");
                }
                finally
                {
                    Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 0);
                }
            }
        }

        public static void UpdateTask(AGV plcClient, ITaskRepository taskRepository)
        {
            // 使用Interlocked.Exchange保证同一时间只有一个线程可以执行任务更新
            if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 1) == 0)
            {
                try
                {
                    if (plcClient == null)
                    {
                        return;
                    }

                    // 从AGV设备中获取各个任务状态的地址
                    var taskFbInteractiveR = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveR.ToString())?.DeviceProAddress;
                    var taskFbInteractive2 = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveW.ToString())?.DeviceProAddress;
                    var resetTaskFbInteractiveR = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskFbInteractiveR.ToString())?.DeviceProAddress;
                    var taskIDFb = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskIDFb.ToString())?.DeviceProAddress;
                    var taskStatusFb = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskStatusFb.ToString())?.DeviceProAddress;

                    // 检查是否找到有效的地址，如果没有找到则直接返回
                    if (taskFbInteractiveR == null || taskFbInteractive2 == null || resetTaskFbInteractiveR == null || taskIDFb == null || taskStatusFb == null)
                    {
                        return;
                    }

                    // 读取任务状态
                    int taskFbInteractive = plcClient.Communicator.Read<int>(taskFbInteractiveR);
                    int taskFbInteractiveW = plcClient.Communicator.Read<int>(taskFbInteractive2);
                    int resetTaskFbInteractiveRValue = plcClient.Communicator.Read<int>(resetTaskFbInteractiveR);

                    // 如果resetTaskFbInteractiveR为1，则重置taskFbInteractiveW为0，并等待其变为0
                    if (resetTaskFbInteractiveRValue == 1)
                    {
                        plcClient.Communicator.Write(taskFbInteractive2, 0);
                        // 避免使用Thread.Sleep来等待状态变化，使用更高效的等待机制
                        for (int i = 0; i < 5; i++)
                        {
                            Task.Delay(300).Wait(); // 使用Task.Delay替代Thread.Sleep，避免阻塞线程池中的线程
                            int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                            if (agvNumber != 0)
                            {
                                plcClient.Communicator.Write(taskFbInteractive2, 0);
                            }
                            else
                            {
                                break;
                            }
                        }
                    }

                    // 只有当taskFbInteractive为1且taskFbInteractiveW为0时才处理任务状态
                    if (taskFbInteractive == 1 && taskFbInteractiveW == 0)
                    {
                        string taskId = plcClient.Communicator.Read<int>(taskIDFb).ToString(); // 任务ID
                        int taskState = plcClient.Communicator.Read<int>(taskStatusFb); // 任务状态

                        // 如果任务状态无效，则直接返回
                        if (taskState == 0)
                        {
                            return;
                        }

                        // 根据任务ID查询数据库中的任务
                        var agvTask = taskRepository.QueryFirst(r => r.TaskNum.ToString() == taskId);
                        if (agvTask == null)
                        {
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            return; // 如果任务不存在，直接返回，不需要再次写入
                        }

                        // 根据任务状态更新任务状态
                        if (taskState == 1) // 任务起点执行中
                        {
                            UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.Line_InExecuting, taskRepository, taskFbInteractive2);
                        }
                        else if (taskState == 2) // 任务起点已完成
                        {
                            UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.Line_InFinish, taskRepository, taskFbInteractive2);
                        }
                        else if (taskState == 3) // 任务终点执行中
                        {
                            UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.SC_InExecuting, taskRepository, taskFbInteractive2);
                        }
                        else if (taskState == 4) // 任务终点完成
                        {
                            if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InExecuting)
                            {
                                // 如果任务状态不是终点执行中，抛出异常
                                throw new Exception($"任务状态更改为4终点已完成失败,任务ID:{taskId},当前状态:{agvTask.TaskState}");
                            }

                            // 删除已完成的任务
                            taskRepository.DeleteData(agvTask);
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                            EnsureTaskFeedback(taskFbInteractive2, plcClient);
                        }
                        else if (taskState == 5)
                        {
                            plcClient.Communicator.Write(taskFbInteractive2, 1);
                        }
                    }

                    // 如果taskFbInteractive为0且taskFbInteractiveW为1，则重置taskFbInteractiveW为0
                    if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
                    {
                        plcClient.Communicator.Write(taskFbInteractive2, 0);
                        EnsureTaskFeedback(taskFbInteractive2, plcClient);
                    }
                }
                catch (Exception ex)
                {
                    // 记录异常信息
                    Console.WriteLine($"WCS接收AGV任务反馈异常 {ex.Message}");
                }
                finally
                {
                    Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 0);
                }
            }
        }

        // 更新任务状态并写入AGV反馈地址
        private static void UpdateTaskStatus(AGV plcClient, Dt_Task agvTask, TaskInStatusEnum targetStatus, ITaskRepository taskRepository, string taskFbInteractive2)
        {
            if (agvTask.TaskState != (int)targetStatus)
            {
                plcClient.Communicator.Write(taskFbInteractive2, 1); // 状态不匹配，写入反馈
            }

            // 更新任务状态为下一个未完成状态
            agvTask.TaskState = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
            taskRepository.UpdateData(agvTask);
            plcClient.Communicator.Write(taskFbInteractive2, 1);
            EnsureTaskFeedback(taskFbInteractive2, plcClient);
        }

        // 确保任务反馈地址的状态为1
        private static void EnsureTaskFeedback(string taskFbInteractive2, AGV plcClient)
        {
            for (int i = 0; i < 5; i++)
            {
                Task.Delay(300).Wait();
                int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
                if (agvNumber != 1)
                {
                    plcClient.Communicator.Write(taskFbInteractive2, 1);
                }
                else
                {
                    break;
                }
            }
        }
    }
}