using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.IO;
using System.Drawing;
using Newtonsoft.Json;
using System.Threading;
using yunneiWCS.EnumDefine;
using yunneiWCS.ORM;
using yunneiWCS.ExtendFunction;

namespace yunneiWCS.data
{
    public static class baseData
    {
        public static Mutex single = new Mutex();
        //static HTTPService api = new HTTPService("http://192.168.0.2:6546/api/v2/");//AGVapi基地址
        static HTTPService api = new HTTPService("http://192.168.0.3:6546/api/v2/");//AGVapi基地址
        /// <summary>发送堆垛机任务
        /// 
        /// </summary>
        /// <param name="taskId">任务ID</param>
        /// <param name="sourcePlace">起始地址</param>
        /// <param name="toPlace">目标地址</param>
        /// <param name="isref">1=不是重发,2=重发</param>
        public static void sendSrmTask(task _task, long taskId, string SourcePlace, string ToPlace, int isref)
        {
            if (single.WaitOne())//增加线程锁防止并发
            {
                try
                {
                    //休眠800毫秒 【Editby shaocx,2024-10-09】
                    //再次校验 
                    if (!MyExtendHelper.IsAllowSendNewTaskToSrm(800))
                    {
                        //必须抛异常
                        throw new Exception("当前堆垛机不满足下发任务的条件,任务号:" + taskId + ",起点:" + SourcePlace + ",终点:" + ToPlace);
                    }

                    string[] sourcePlace = SourcePlace.Split('-');
                    string[] toPlace = ToPlace.Split('-');
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosX, Convert.ToInt16(toPlace[0]));//目标地址排
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosY, Convert.ToInt16(toPlace[1]));//目标地址列
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosZ, Convert.ToInt16(toPlace[2]));//目标地址层
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_command, Convert.ToInt16(1));//执行方式 搬运
                    if (_task == null)
                    {
                        Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_TaskNo, Convert.ToInt32(taskId));//任务id
                    }
                    else
                    {
                        Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_TaskNo, Convert.ToInt32(_task.PlcTaskNo));//此处任务号更改 【EditBy shaocx,2022-03-28】
                    }
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosX, Convert.ToInt16(sourcePlace[0]));//起始地址排
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosY, Convert.ToInt16(sourcePlace[1]));//起始地址排
                    Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosZ, Convert.ToInt16(sourcePlace[2]));//起始地址排
                    //记录任务记录
                    using (dbmodel mod = new dbmodel())
                    {
                        if (isref == 1)
                        {
                            taskRecord record = new taskRecord();
                            record.taskId = taskId;
                            record.sourcePlace = SourcePlace;
                            record.toPlace = ToPlace;
                            record.taskInfo = "堆垛机任务";
                            record.createTime = Convert.ToDateTime(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));

                            if (_task != null)
                            {//增加 【EditBy shaocx,2022-03-28】
                                record.AgvTaskNo = _task.AgvTaskNo;
                                record.PlcTaskNo = _task.PlcTaskNo;
                            }

                            mod.taskRecord.Add(record);
                            mod.SaveChanges();
                        }

                    }
                    int a = 0;
                    while (a < 5)//握手确认
                    {
                        if (Form1.srm.stb == "是")
                        {
                            Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_ack, Convert.ToInt16(1));//ack确认
                            break;
                        }
                        a++;
                        Thread.Sleep(1000);
                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendSrmTask", ex.ToString());
                    throw ex;//必须抛出异常 【Editby shaocx,2024-10-09】
                }
                finally
                {
                    single.ReleaseMutex();
                }//一轮结束
            }

        }
        /// <summary>发送AGV任务
        /// 
        /// </summary>
        /// <param name="_task">任务对象</param>
        /// <param name="taskId">任务ID</param>
        /// <param name="sourcePlace">起始地址</param>
        /// <param name="toPlace">目标地址</param>
        /// <param name="isref">1=不是重发,2=重发</param>
        public static string sendAgvTask(task _task, long taskId, string sourcePlace, string toPlace, int isref)
        {
            //注意：_task肯定不为NULL
            string result = "失败";
            if (single.WaitOne())//增加线程锁防止并发
            {
                try
                {
                    var _agvTaskNo = _task.AgvTaskNo;
                    var _old_agvTaskNo = _task.AgvTaskNo;
                    if (isref == 2)
                    {
                        _agvTaskNo = TaskNoHelper.CreateTaskIdForAgvTask(_task.PlcTaskNo);//重发的时候，要重新生成任务号【Editby shaocx,2024-10-09】
                    }
                    var data = new
                    {
                        //id = taskId,
                        //id = _task.AgvTaskNo,//此处任务号更改 【EditBy shaocx,2022-03-28】
                        id = _agvTaskNo,//此处任务号更改 【EditBy shaocx,2022-03-28】
                        systemId = "WMS",
                        type = "LoadingAndUnloading",
                        source = sourcePlace,
                        destination = toPlace
                    };
                    string paprm = JsonConvert.SerializeObject(data);
                    Guid guid = System.Guid.NewGuid();
                    result = api.postContentForStringForAgv("orders", paprm, guid);
                    //记录AGV发送任务
                    if (result == "")
                    {
                        if (isref == 1)
                        {
                            using (dbmodel mod = new dbmodel())
                            {
                                taskRecord record = new taskRecord();
                                record.taskId = taskId;
                                record.sourcePlace = sourcePlace;
                                record.toPlace = toPlace;
                                record.taskInfo = "AGV任务";
                                record.createTime = DateTime.Now;
                                if (_task != null)
                                {//增加 【EditBy shaocx,2022-03-28】
                                    record.AgvTaskNo = _task.AgvTaskNo;
                                    record.PlcTaskNo = _task.PlcTaskNo;
                                }

                                mod.taskRecord.Add(record);
                                mod.SaveChanges();
                            }
                        }
                        else
                        {
                            //重发，需要更新AGV任务号 【Editby shaocx,2024-10-09】
                            using (dbmodel mod = new dbmodel())
                            {
                                var taskDb = mod.task.Where(t => t.taskId == _task.taskId).FirstOrDefault();
                                taskDb.AgvTaskNo = _agvTaskNo;
                                //子任务的agv任务号
                                var taskRecord = mod.taskRecord.Where(t => t.AgvTaskNo == _old_agvTaskNo).FirstOrDefault();
                                if (taskRecord == null)
                                {
                                    result = "根据agv任务号" + _old_agvTaskNo + "没有找到agv任务";
                                    return result;
                                }
                                taskRecord.AgvTaskNo = _agvTaskNo;

                                mod.SaveChanges();
                            }
                        }

                    }
                    else
                    {
                        AgvRetModel agvRet = JsonConvert.DeserializeObject<AgvRetModel>(result);
                        if (agvRet != null)
                        {
                            result = agvRet.message;
                        }
                        else
                        {
                            result = "AGV返回失败状态码";
                        }

                        WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendAgvTask", "发送AGV任务失败Taskid：" + taskId + " 发送结果： " + result + " 是否重发：" + (isref == 1 ? "不是" : "是"));
                    }
                }
                catch (Exception ex)
                {
                    result = "AGV发送异常:" + ex.Message;
                    WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendAgvTask" + "发送AGV任务异常Taskid：" + taskId, ex.ToString());
                }

                finally { single.ReleaseMutex(); }//一轮结束

            }
            return result;
        }

        /// <summary>堆垛机ACK确认
        /// 
        /// </summary>
        public static void sendSrmACK()
        {
            Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_ack, Convert.ToInt16(1));//ack确认

        }
        /// <summary>堆垛机任务确认
        /// 
        /// </summary>
        public static void srmConfirm()
        {

            Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_Task_Finish_ACK, Convert.ToInt16(1));//确认任务
        }
        public static void srmAlarmReset()
        {
            Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_alarmAck, Convert.ToInt16(1));//确认任务

        }

        public static List<AgvStatus> readAgvs()
        {
            Guid guid = System.Guid.NewGuid();
            string res = api.getContentForString("agvStatus", guid);

            List<AgvStatus> result = JsonConvert.DeserializeObject<List<AgvStatus>>(res);
            return result;

        }
    }
}