using Newtonsoft.Json;
using WIDESEA_Comm.LogInfo;
using WIDESEA_Core.FreeDB;
using WIDESEA_Core.Utilities;
using WIDESEA_WCS.WCSClient;

namespace WIDESEA_WCS
{
    /// <summary>
    /// PLC显示信息配置
    /// </summary>
    public class PLCInfo
    {
        /// <summary>
        /// 所属设备类型
        /// </summary>
        public string eqType { get; set; }

        /// <summary>
        /// 信号中文名称
        /// </summary>
        public string io_name { get; set; }

        /// <summary>
        /// 显示的数据类型
        /// </summary>
        public string showType { get; set; }

        /// <summary>
        /// 数据地址
        /// </summary>
        public string dbAddress { get; set; }

        /// <summary>
        /// 值
        /// </summary>
        public object value { get; set; }
    }

    /// <summary>
    /// 子车参数配置
    /// </summary>
    public class EqConfig
    {
        /// <summary>
        /// 配置名称
        /// </summary>
        public string name { get; set; }

        /// <summary>
        /// 信号地址
        /// </summary>
        public string dbAddress { get; set; }

        /// <summary>
        /// 值
        /// </summary>
        public int value { get; set; }

        /// <summary>
        /// 获取配置字典
        /// </summary>
        /// <returns></returns>
        public static Dictionary<string, short> GetConfigDic(List<EqConfig> configs)
        {
            Dictionary<string, short> config_dic = new Dictionary<string, short>();
            foreach (EqConfig config in configs)
            {
                config_dic.Add(config.dbAddress, (short)config.value);
            }
            return config_dic;
        }
    }

    public class ChilderServer
    {
        /*
            //1、显示基本信息
            //2、单独控制子车（显示实时位置）
            //3、单独控制龙门（显示实时位置）
            //3、单独控制升降（显示实时位置）
            //4、单独控制夹爪（显示夹爪状态）
            //5联动运行（现场调试）
         */

        FreeDB freeDB = new FreeDB();
        private static List<PLCInfo> plcInfos;

        public ChilderServer()
        {
            if (plcInfos == null)
            {
                string config = freeDB.DataBase.Ado.QuerySingle<string>("select config from dt_equipmentinfo where equipment_name='子车1'");
                plcInfos = JsonConvert.DeserializeObject<List<PLCInfo>>(config);
            }
        }

        /// <summary>
        /// 获取PLC信息
        /// </summary>
        /// <returns></returns>
        public WebResponseContent GetChidlerInfo()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                //长链接断开后，会自动默认使用短连接
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }
                GetChilderInfo(client);
                content.Data = new { info = plcInfos };
                content.OK();
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 获取子车参数
        /// </summary>
        /// <returns></returns>
        public WebResponseContent GetChidlerParm()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string config = freeDB.DataBase.Ado.QuerySingle<string>("select eqconfig from dt_equipmentinfo where equipment_name='子车1'");
                content.Data = config;
                content.OK();
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

        #region 子车操作
        public void Remark()
        {
            //运行流程
            //1、启动子车、连接子车PLC（刚启动时子车所有状态为初始状态）
            //2、子车、龙门、升降、夹爪全部给使能。所有初始速度全部加载好
            //3、点击回原点
            //4、(设置为自动状态)依次控制子车、龙门、升降、夹爪运行


            //完成后3种操作
            //1、原地处理。所有操作不动。
            //处理完成后
            //处理完成或下降到之前的位置，
            //松开夹爪。
            //然后升降机回位。
            //龙门还要回到原点

            //2、龙门回到原点
            //升降运动到指定位置（原点）
            //人工处理故障板
            //人工处理完成
            //提起故障板
            //龙门回到提故障板的位置

            //3、龙门回到原点
            //升降运动到指定位置（原点）
            //子车回原点
            //人工处理故障板
            //人工处理完成
            //在送回
        }


        /// <summary>
        /// 回原点
        /// </summary>
        /// <returns></returns>
        public WebResponseContent ToBasePoint()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                var configDic = GetEqConfig();
                client.Write("66", true);//子车伺服使能1
                Thread.Sleep(1000);
                client.Write("67", true);//子车伺服使能2
                Thread.Sleep(1000);
                client.Write("209", true);//龙门使能1
                Thread.Sleep(1000);
                client.Write("210", true); //龙门使能2
                Thread.Sleep(1000);
                client.Write("237", true);//升降使能
                Thread.Sleep(1000);
                client.Write("212", true);//夹紧使能
                Thread.Sleep(1000);

                client.Write("1036", configDic["1036"]);//子车行走速度
                client.Write("1038", configDic["1038"]);//子车手动速度
                client.Write("1040", configDic["1040"]); //子车扫码枪慢速定位速度
                client.Write("1044", configDic["1044"]);//龙门行走速度
                client.Write("1046", configDic["1046"]);//龙门手动速度
                client.Write("1048", configDic["1048"]);//龙门回零速度
                client.Write("1050", configDic["1050"]);//升降行走速度
                client.Write("1052", configDic["1052"]);//升降手动速度
                client.Write("1054", configDic["1054"]);//升降回零速度
                client.Write("1056", configDic["1056"]);//夹紧行走速度
                client.Write("1058", configDic["1058"]);//夹紧手动速度
                client.Write("1060", configDic["1060"]);//夹紧回零速度
                client.Write("1042", configDic["1042"]);//子车回零速度

                Thread.Sleep(500);
                client.Write("241", true);//请求回原点信号

                WriteLog.Write_Log("手动操作", "子车", "手动回原点成功", configDic);
                content.OK("回原点成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "手动回原点异常", ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 启动子车
        /// </summary>
        /// <returns></returns>
        public WebResponseContent Run_Child(int point)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                WriteRun(client, 1010, point, "64");

                WriteLog.Write_Log("手动操作", "子车", "启动子车" + point.ToString());
                content.OK("启动成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "启动子车异常" + point.ToString(), ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }


        /// <summary>
        /// 停止子车当前动作（子车运动、龙门运动、升降运动、夹爪运动）
        /// </summary>
        /// <returns></returns>
        public WebResponseContent Stop_Child()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }
                //写入停止
                client.Write("242", true);

                WriteLog.Write_Log("手动操作", "子车", "停止子车");
                content.OK("停止成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "停止子车异常", ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }


        /// <summary>
        /// 复位子车报警
        /// </summary>
        /// <returns></returns>
        public WebResponseContent Reset_Child()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                client.Write("244", true);
                Thread.Sleep(2000);
                client.Write("244", false);

                WriteLog.Write_Log("手动操作", "子车", "复位子车成功");
                content.OK("复位成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "复位子车异常", ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 启动龙门
        /// </summary>
        /// <param name="point"></param>
        /// <returns></returns>
        public WebResponseContent Run_Gantry(int point)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                WriteRun(client, 1028, point, "208");

                WriteLog.Write_Log("手动操作", "子车", "启动龙门" + point.ToString());
                content.OK("启动成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "启动龙门异常" + point.ToString(), ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }


        /// <summary>
        /// 启动升降
        /// </summary>
        /// <param name="point"></param>
        /// <returns></returns>
        public WebResponseContent Run_Lifting(int point)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                WriteRun(client, 1032, point, "211");

                WriteLog.Write_Log("手动操作", "子车", "启动升降" + point.ToString());
                content.OK("启动成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "启动升降异常" + point.ToString(), ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 夹紧夹爪
        /// </summary>
        /// <param name="point"></param>
        /// <returns></returns>
        public WebResponseContent Colse_Handle(int point)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }
                //夹紧夹爪
                client.Write("213", true);

                WriteLog.Write_Log("手动操作", "子车", "夹紧夹爪");
                content.OK("操作成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "夹紧夹爪异常" + point.ToString(), ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 松开夹爪
        /// </summary>
        /// <param name="point"></param>
        /// <returns></returns>
        public WebResponseContent Open_Handle(int point)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }
                //松开夹爪
                client.Write("214", true);

                WriteLog.Write_Log("手动操作", "子车", "松开夹爪");
                content.OK("操作成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "松开夹爪异常" + point.ToString(), ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 更改自动状态
        /// </summary>
        /// <param name="state"></param>
        /// <returns></returns>
        public WebResponseContent ChangeAutoState(string state)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                if (state == "手动")
                {
                    client.Write("233", true); //手动状态
                }
                else if (state == "自动")
                {
                    client.Write("233", false); //自动状态
                }

                WriteLog.Write_Log("手动操作", "子车", "更改设备手自动状态为：" + state + "成功");
                content.OK("操作成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "更改设备手自动状态为：" + state + "异常", ex.Message);
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 修改子车参数
        /// </summary>
        /// <param name="state"></param>
        /// <returns></returns>
        public WebResponseContent SetChilderParm(List<EqConfig> configs)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
                if (client == null || !client.IsConnected)
                {
                    return content.Error($"PLC{"子车1"}未连接");
                }

                var configDic = EqConfig.GetConfigDic(configs);

                client.Write("1036", configDic["1036"]);//子车行走速度
                client.Write("1038", configDic["1038"]);//子车手动速度
                client.Write("1040", configDic["1040"]); //子车扫码枪慢速定位速度
                client.Write("1044", configDic["1044"]);//龙门行走速度
                client.Write("1046", configDic["1046"]);//龙门手动速度
                client.Write("1048", configDic["1048"]);//龙门回零速度
                client.Write("1050", configDic["1050"]);//升降行走速度
                client.Write("1052", configDic["1052"]);//升降手动速度
                client.Write("1054", configDic["1054"]);//升降回零速度
                client.Write("1056", configDic["1056"]);//夹紧行走速度
                client.Write("1058", configDic["1058"]);//夹紧手动速度
                client.Write("1060", configDic["1060"]);//夹紧回零速度
                client.Write("1042", configDic["1042"]);//子车回零速度

                string configJson = JsonConvert.SerializeObject(configs);
                int res = freeDB.DataBase.Ado.ExecuteNonQuery("update dt_equipmentinfo set eqconfig=@eqconfig where equipment_name='子车1'", new { eqconfig = configJson });

                WriteLog.Write_Log("手动操作", "子车", "修改子车参数成功", configs);
                content.OK("操作成功！");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("手动操作", "子车", "修改子车参数异常", new { 内容 = configs, 错误 = ex.Message });
                content.Error(ex.Message);
            }
            return content;
        }


        /// <summary>
        /// 一键运行子车
        /// </summary>
        /// <returns></returns>
        public WebResponseContent RunChilder()
        {
            WebResponseContent content = new WebResponseContent();
            return content.Error("开发调试中……");

            ChilderCarJob.CurrentState = "子车开始";
            ChilderCarJob.childerPoint = 1200;
            ChilderCarJob.gantryPoint = 1500;
            return content.OK("启动成功");
        }
        #endregion

        /// <summary>
        /// 写入设备运行
        /// </summary>
        /// <param name="address">位置地址</param>
        /// <param name="point">位置值</param> 
        /// <param name="runAddress">启动地址</param> 
        private void WriteRun(PLCClient client, int address, int point, string runAddress)
        {
            client.Write(runAddress, false);//复位启动命令
            Thread.Sleep(1000);

            int startPoint = point / 1000;
            int endPoint = point % 1000;
            string address1 = address.ToString();
            string address2 = (address + 1).ToString();

            client.Write(address1, (short)startPoint);
            client.Write(address2, (short)endPoint);//写入目的地址

            var point1 = client.Read<short>(address1);
            var point2 = client.Read<short>(address2);
            if (startPoint != point1)
            {
                client.Write(address1, (short)startPoint);
                WriteLog.Write_Log("手动操作", "子车", $"启动子车值不一致写入{startPoint},复读{point1}");
            }
            if (endPoint != point2)
            {
                client.Write(address2, (short)endPoint);
                WriteLog.Write_Log("手动操作", "子车", $"启动子车值不一致写入{endPoint},复读{point2}");
            }

            Thread.Sleep(1000);//必须延时
            client.Write(runAddress, true);//写入启动命令
        }

        /// <summary>
        /// 读取子车信息
        /// </summary>
        /// <param name="client"></param>
        private void GetChilderInfo(PLCClient client)
        {
            foreach (var item in plcInfos)
            {
                if (item.showType.Contains("bool"))
                {
                    item.value = client.Read<bool>(item.dbAddress);
                }
                else if (item.showType == "int")
                {
                    var address = int.Parse(item.dbAddress) + 1;
                    item.value = client.Read<short>(item.dbAddress) * 1000 + client.Read<short>(address + "");
                }
            }
        }

        /// <summary>
        /// 获取子车配置
        /// </summary>
        /// <returns></returns>
        private Dictionary<string, short> GetEqConfig()
        {
            string configJson = freeDB.DataBase.Ado.QuerySingle<string>("select eqconfig from dt_equipmentinfo where equipment_name='子车1'");
            var configList = JsonConvert.DeserializeObject<List<EqConfig>>(configJson);
            var config = EqConfig.GetConfigDic(configList);
            return config;
        }
    }
}