using IWareCC.Properties;
using IWareCommon.Enum.Common;
using IWareCommon.Enum.Rgv;
using IWareCommon.Help;
using S7.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace IWareCC.RGV.Entity
{
    public class RgvEntity
    {
        private System.Text.ASCIIEncoding ascii = new System.Text.ASCIIEncoding();
        /// <summary>
        /// Rgv名称
        /// </summary>
        public string RgvName { get; set; }
        /// <summary>
        /// 设备编号
        /// </summary>
        public int DeviceId { get; set; }
        /// <summary>
        /// 根据心跳判断堆垛机是否在线
        /// </summary>
        public bool IsOnline { get; set; }
        /// <summary>
        /// 下线次数
        /// </summary>
        public int OffLineTimes { get; set; }

        /// <summary>
        /// 上一次心跳数
        /// </summary>
        public int LastHandShake { get; set; }

        /// <summary>
        /// 连接PLC读的对象
        /// </summary>
        public PlcS7 RRGVS71200 { get; set; }
        /// <summary>
        /// 连接PLC写的对象
        /// </summary>
        public PlcS7 WRGVS71200 { get; set; }


        #region 写入设备的信息
        /// <summary>
        /// 心跳
        /// </summary>
        public int WHandShake { get; set; }
        /// <summary>
        /// 设备编号
        /// </summary>
        public string WRgvNo { get; set; }
        /// <summary>
        /// 急停
        /// </summary>
        public bool WEStop { get; set; }
        /// <summary>
        /// 起始站点
        /// </summary>
        public string WStartPos { get; set; }
        /// <summary>
        /// 目标站点
        /// </summary>
        public string WEndPos { get; set; }
        /// <summary>
        /// 任务号
        /// </summary>
        public int WTaskNo { get; set; }
        /// <summary>
        /// 任务类型
        /// </summary>
        public int WRgvCMD { get; set; }
        /// <summary>
        /// 任务完成确认
        /// </summary>
        public bool WAckTaskFinish { get; set; }
        /// <summary>
        /// 设备复位
        /// </summary>
        public bool WReset { get; set; }

        /// <summary>
        /// 托盘类型
        /// </summary>
        public int WPallType { get; set; }
        /// <summary>
        /// 任务下完成信号
        /// </summary>
        public bool WStb { get; set; }
        #endregion

        #region 读取设备的信息
        /// <summary>
        /// 心跳
        /// </summary>
        public int RHandShake { get; set; }
        /// <summary>
        /// Rgv编号
        /// </summary>
        public string RRgvNo { get; set; }
        /// <summary>
        /// 是否有报警
        /// </summary>
        public bool RAlarm { get; set; }
        /// <summary>
        /// 报警代码
        /// </summary>
        public int RAlarmCode { get; set; }

        /// <summary>
        /// 是否有货
        /// </summary>
        public bool RLoaded { get; set; }
        /// <summary>
        /// 任务完成信号
        /// </summary>
        public bool RTaskFinish { get; set; }
        /// <summary>
        /// 任务号
        /// </summary>
        public int RTaskNo { get; set; }
        /// <summary>
        /// 起始站点
        /// </summary>
        public int RSPos { get; set; }
        /// <summary>
        /// 目标站点
        /// </summary>
        public int RTPos { get; set; }
        /// <summary>
        /// Rgv位置
        /// </summary>
        public int RRgvPosition { get; set; }
        /// <summary>
        /// Rgv状态
        /// </summary>
        public int RState { get; set; }
        /// <summary>
        /// Rgv模式
        /// </summary>
        public int RMode { get; set; }
        /// <summary>
        /// 任务接收成功信号
        /// </summary>
        public bool RAck { get; set; }
        #endregion

        public OpcReadItem OpcReadItems { get; set; }

        public OpcWriteItem OpcWriteItems { get; set; }

        public RgvEntity() { }

        public RgvEntity(string rgvName, int deviceId, PlcS7 plc)
        {
            this.RgvName = rgvName;
            this.DeviceId = deviceId;
            this.RRgvNo = deviceId.ToString();
            this.WRgvNo = deviceId.ToString();
            this.WRGVS71200 = plc;
            OpcWriteItems = new OpcWriteItem
            {
                HandShake = "DB601.DBX8.4",
                EStop = "DB601.DBX8.0",
                StartPos = "DB601.DBW4",
                EndPos = "DB601.DBW6",
                TaskNo = "DB601.DBD0",
                AckTaskFinish = "DB601.DBX8.3",
                Reset = "DB601.DBX8.1",
                Stb = "DB601.DBX8.2",
                PallType = "DB601.DBW10"
            };
            OpcReadItems = new OpcReadItem
            {
                HandShake = "DB600.DBW0",
                Alarm = "DB600.DBX8.0",
                AlarmCode = "DB600.DBW10",
                Loaded = "DB600.DBX4.0",
                TaskFinish = "DB600.DBX24.1",
                TaskNo = "DB600.DBD12",
                SPos = "DB600.DBD16",
                TPos = "DB600.DBD20",
                RgvPosition = "DB600.DBD26",
                State = "DB600.DBW6",
                Mode = "DB600.DBW2",
                Ack = "DB600.DBX24.0"
            };
        }
        /// <summary>
        /// Rgv任务发送
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="taskId"></param>
        /// <param name="sourcePlce"></param>
        /// <param name="toPlace"></param>
        /// <param name="taskType"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public bool SendTask(int deviceId, int taskId, string sourcePlce, string toPlace, int pallType, out string msg)
        {
            try
            {
                msg = "";
                if (!CanSendTask(deviceId, out msg))
                {
                    return false;
                }
                bool b2 = this.WriteValue(this.OpcWriteItems.StartPos, sourcePlce);
                bool b3 = this.WriteValue(this.OpcWriteItems.EndPos, toPlace);
                bool b1 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
                bool b4 = this.WriteValue(this.OpcWriteItems.PallType, pallType);
                bool b5 = this.WriteValue(this.OpcWriteItems.Stb, 1);
                if (!(b1 && b2 && b3 && b4 && b5))
                {
                    msg = "写入OPC失败";
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "SendTask", msg);
                return false;
            }
        }
        /// <summary>
        /// 取消报警
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public bool ResolveRGV(int deviceId, out string msg)
        {
            try
            {
                msg = "";
                bool confirm_flag = this.WriteValue(this.OpcWriteItems.Reset, true);
                if (!confirm_flag)
                {
                    msg = string.Format("向RGV{0}复位失败", RgvName);
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "ClearAlarm", msg);
                return false;
            }
        }

        /// <summary>
        /// 任务删除
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="taskId"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public bool DeleteTask(int deviceId, int taskId, out string msg)
        {
            try
            {
                msg = "";
                //if (this.RTaskNo != taskId)
                //{
                //    msg = string.Format("RGV当前非执行taskId={0}的任务", taskId);
                //    return false;
                //}
                //bool b1 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
                bool b2 = this.WriteValue(this.OpcWriteItems.Reset, 1);
                if (!(b2))
                {
                    msg = string.Format("写入OPC失败", RgvName);
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "DeleteTask", msg);
                return false;
            }
        }

        /// <summary>
        /// 急停
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public bool EmergencyStop(int deviceId, out string msg)
        {
            try
            {
                msg = "";
                bool flag = this.WriteValue(this.OpcWriteItems.EStop, 1);
                if (!flag)
                {
                    msg = string.Format("向RGV{0}写入急停指令失败", RgvName);
                    return false;
                }
                return true;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "EmergencyStop", msg);
                return false;
            }
        }

        /// <summary>
        /// 是否可以发送任务
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="taskType"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public bool CanSendTask(int deviceId, out string msg)
        {
            msg = "";
            if (!IsOnline)
            {
                msg = "已离线";
                return false;
            }
            if (RMode != (int)ERgvMode.连机自动模式)
            {
                msg = "当前非自动模式";
                return false;
            }
            if (RState != (int)ERgvState.空闲)
            {
                msg = "设备状态非空闲，无法执行其他任务";
                return false;
            }
            return true;
        }

        public bool WriteValue(string addr, object value)
        {
            string msg = string.Empty;
            if (!string.IsNullOrEmpty(addr))
            {
                try
                {
                    if (!this.WRGVS71200.IsConnected)
                    {
                        this.WRGVS71200.Close();
                        Thread.Sleep(100);
                        this.WRGVS71200.Open();
                    }

                    msg = this.WRGVS71200.Write(addr, value).ToString();
                    if (msg != "NoError")
                    {
                        string msg1 = this.WRGVS71200.Write(addr, value).ToString();
                        if (msg1 != "NoError")
                        {
                            this.WRGVS71200.Close();
                            Thread.Sleep(100);
                            this.WRGVS71200.Open();
                            LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "WriteValue" + addr, msg);
                            return false;
                        }
                        else
                        {
                            return true;
                        }
                    }
                    else
                    {
                        return true;
                    }
                }
                catch
                {

                    msg = addr + "写入失败  ";
                    LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "WriteValue", msg);
                    return false;
                }
            }
            else
            {
                msg = addr + "写入失败  ";
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "WriteValue", msg);
                return false;
            }
        }
        public object ReadValuePoint(string add)
        {
            try
            {
                if (!this.WRGVS71200.IsConnected)
                {
                    this.WRGVS71200.Close();
                    Thread.Sleep(100);
                    this.WRGVS71200.Open();
                }
                object MyPlcData = this.WRGVS71200.Read(add);
                if (MyPlcData.ToString() == "WrongVarFormat" || MyPlcData.ToString() == "10")
                {
                    MyPlcData = this.WRGVS71200.Read(add);
                    if (MyPlcData.ToString() == "WrongVarFormat" || MyPlcData.ToString() == "10")
                    {
                        MyPlcData = this.WRGVS71200.Read(add);
                    }
                }
                return MyPlcData;
            }
            catch (Exception ex)
            {
                LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "ReadValuePoint", ex.Message);
                return 0;
            }
        }
    }
}