using System;
using System.Threading;
using iWareCommon.Utils;

using System.Linq;
using Newtonsoft.Json;
using System.Collections.Generic;
using iWareCommon;
using System.Text;
using iWareModel;


namespace iWareSda
{
    // 注意: 使用“重构”菜单上的“重命名”命令，可以同时更改代码和配置文件中的类名“SrmService”。
    public class SrmService : ISrmService
    {
        private static string _namespace = "iWareSda.SrmService.SrmService";
        private static string nofoundStackerMsg = SysHelper.Language(WareSdaStruct.LanguageFlg, "没有找到堆垛机设备", "No found the Stacker");

        /// <summary>
        /// 获取SrmEntity实体集合
        /// </summary>
        /// <returns></returns>
        public List<SrmEntity> GetSrm_CacheEntity()
        {
            return Srm_CacheEntity.DeviceObjs;
        }

        /// <summary>
        /// 堆垛机任务完成确认信号发送
        /// </summary>
        /// <param name="srmId">设备号</param>
        /// <param name="taskId">任务号</param>
        /// <returns></returns>
        public SdaResEntity ConfirmTaskFinish(int srmId, int taskId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            try
            {
                Log4NetHelper.WriteInfoLog(LogType.SrmSdaService, srmId + "号堆垛机:接收到确认任务:" + taskId + " 已完成的指令");
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = "没有找到SRM设备";
                    return sdaResult;
                }
                /*
                if (srm.RTaskNo != taskId)
                {
                    return false;
                }
                //*/
                bool flag = false;

                string msg = "";
                ////判断是否IsReady
                //
                //SdaResEntity isReady_SdaResEntity = IsReady(srmId, out msg);
                //if (!isReady_SdaResEntity.result)
                //{
                //    msg = "判断堆垛机不是空闲并可用状态-" + msg;
                //    sdaResult.result = false;
                //    sdaResult.resMsg = msg;
                //    return sdaResult;
                //}

                var result = srm.ConfirmTaskFinish(out msg);
                Log4NetHelper.WriteInfoLog(LogType.SrmSdaService, srmId + "号堆垛机:下发确认任务:" + taskId + " 已完成的指令" + (flag ? "成功" : "失败"));

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
            catch (Exception ex)
            {
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, "堆垛机任务完成确认信号发送出现异常:" + JsonConvert.SerializeObject(ex), ex);
                sdaResult.result = false;
                sdaResult.resMsg = JsonConvert.SerializeObject(ex);
                return sdaResult;
            }
        }

        public SrmView GetSrmInfo(int srmId)
        {
            var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
            if (srm == null)
            {
                return null;
            }
            return srm.View;
        }

        /// <summary>
        /// 判断堆垛机是否可用
        /// </summary>
        /// <param name="srmId"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public SdaResEntity IsReady(int srmId, out string msg)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            try
            {
                msg = "";
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    msg = string.Format("未找到srmId={0}的堆垛机信息", srmId);
                    sdaResult.resMsg = msg;
                    return sdaResult;
                }

                if (!srm.CanDoTask(srmId, out msg))
                {
                    sdaResult.resMsg = msg;
                    sdaResult.result = false;
                    return sdaResult;
                }
                //var result = (srm.RAuto && !srm.RAlarm && !srm.RLoaded && srm.RForkIni && srm.RState == (int)ESrmState.空闲);
                //sdaResult.result = result;
                //sdaResult.resMsg = msg;
                //if (string.IsNullOrEmpty(msg))
                //{
                //    sdaResult.resMsg = srm.AlarmCode;
                //}
                sdaResult.result = true;
                return sdaResult;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                sdaResult.result = false;
                sdaResult.resMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                return sdaResult;
            }
        }

        /// <summary>
        /// 判断堆垛机是否可用，是否可以发送新任务给堆垛机
        /// </summary>
        /// <param name="srmId"></param>
        /// <param name="msg"></param>
        /// <returns></returns>
        public SdaResEntity IsAllowSendTask(int srmId, out string msg)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            try
            {
                msg = "";

                sdaResult = IsReady(srmId, out msg);
                if (!sdaResult.result)
                {//如果校验堆垛机是否可用失败，返回错误
                    return sdaResult;
                }

                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm.View.R_TaskNo != 0)
                {//说明目前堆垛机上有任务号，不允许下发新任务
                    msg = string.Format("{0}号堆垛机目前有任务未确认,任务号{1},不允许下发新任务", srmId, srm.View.R_TaskNo);
                    sdaResult.resMsg = msg;
                    sdaResult.result = false;
                    return sdaResult;
                }
                sdaResult.result = true;
                return sdaResult;
            }
            catch (Exception ex)
            {
                msg = ex.Message;
                sdaResult.result = false;
                sdaResult.resMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                return sdaResult;
            }
        }

        /// <summary>
        /// 验证堆垛机任务是否已经完成
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns>0表示没有任务完成，其他表示任务完成，并返回任务号</returns>
        public SdaResEntity IsTaskFinish(int srmId, int taskId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }
                var result = srm.View.R_TaskFinish == 1 && (srm.View.R_TaskNo == taskId);

                sdaResult.result = result;
                sdaResult.resMsg = "";
                return sdaResult;
            }
            catch (Exception ex)
            {
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, "出现异常:" + JsonConvert.SerializeObject(ex), ex);
                sdaResult.result = false;
                sdaResult.resMsg = JsonConvert.SerializeObject(ex);
                return sdaResult;
            }
        }



        /// <summary>
        /// 是否允许给堆垛机发送新任务
        /// </summary>
        /// <param name="srmId"></param>
        /// <param name="taskId"></param>
        /// <returns>true:允许，false：不允许</returns>
        public SdaResEntity IsAllowSendNewTaskToSrm(int srmId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }
                var result = srm.IsAllowSendNewTaskToSrm();

                sdaResult.result = result;
                sdaResult.resMsg = "";
                return sdaResult;
            }
            catch (Exception ex)
            {
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, "出现异常:" + JsonConvert.SerializeObject(ex), ex);
                sdaResult.result = false;
                sdaResult.resMsg = JsonConvert.SerializeObject(ex);
                return sdaResult;
            }
        }


        /// <summary>
        /// 删除任务
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public SdaResEntity SendSrmDelete(int srmId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg = "";
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }

                var result = srm.SendDelTask(srm.View.DeviceId, out msg);

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
            catch (Exception ex)
            {
                msg = "堆垛机删除任务出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


        /// <summary>
        /// 堆垛机急停
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public SdaResEntity SendEStop(int srmId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg = "";
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }


                var result = srm.SendEStop(out msg);

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
            catch (Exception ex)
            {
                msg = "堆垛机急停出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


        /// <summary>
        /// 给堆垛机发送任务
        /// </summary>
        /// <param name="srmId"></param>
        /// <param name="taskId"></param>
        /// <param name="sourcePlace"></param>
        /// <param name="toPlace"></param>
        /// <returns></returns>
        public SdaResEntity SendSrmTask(int srmId, int taskId, string sourcePlace, string toPlace, short command,short pallettype)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg = "";
            try
            {
                ESrmCmd srmCmd;
                bool parseResult = Enum.TryParse(command.ToString(), out srmCmd);
                if (parseResult == false)
                {
                    msg = SysHelper.Language(WareSdaStruct.LanguageFlg, "任务类型'" + command + "'转换错误", "Task command '" + command + "' convert failed");
                    sdaResult.resMsg = msg;
                    return sdaResult;
                }
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }
                if (srmCmd == ESrmCmd.库内搬运 || srmCmd == ESrmCmd.入库 || srmCmd == ESrmCmd.出库)
                {//1-01-01-01
                    if (sourcePlace.Length != 10 && sourcePlace.Length != 11)
                    {
                        sdaResult.resMsg = "来源库位不对";
                        return sdaResult;
                    }
                }
                if (toPlace.Length != 10 && toPlace.Length != 11)
                {
                    sdaResult.resMsg = "目标库位不对";
                    return sdaResult;
                }
                //重新处理 sourcePlace、toPlace [EditBy shaocx,2022-04-02]
                srm.ReSubStringPlace(ref sourcePlace, ref toPlace);

                var result = srm.SendTask(srmCmd, srmId, taskId, sourcePlace, toPlace,pallettype, out msg);

                StringBuilder sb = new StringBuilder();
                sb.Append("下发");
                sb.Append(srmId + "号堆垛机");
                sb.Append(", 任务号=" + taskId);
                sb.Append(", 起始点=" + sourcePlace);
                sb.Append(", 目标点=" + toPlace);
                sb.Append(", 的指令=" + (result ? "成功" : "失败"));
                sb.Append(", 原因=" + msg);

                Log4NetHelper.WriteInfoLog(LogType.SrmSdaService, sb.ToString());

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;

            }
            catch (Exception ex)
            {
                msg = "给堆垛机发送任务出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


        /// <summary>
        /// 堆垛机解警
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public SdaResEntity ReleaseAlert(int srmId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }


                var result = srm.ReleaseAlert(out msg);

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;

            }
            catch (Exception ex)
            {
                msg = "堆垛机解警出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }

        /// <summary>
        /// 堆垛机继续任务
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public SdaResEntity ContinueTask(int srmId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == srmId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }


                var result = srm.ContinueTask(out msg);

                sdaResult.result = result;
                sdaResult.resMsg = msg;
                return sdaResult;

            }
            catch (Exception ex)
            {
                msg = "堆垛机继续任务出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


        /// <summary>
        /// 判断是否有心跳
        /// </summary>
        /// <param name="deviceId"></param>
        /// <returns></returns>
        public SdaResEntity IsHaveHeatBeat(int deviceId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == deviceId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }

                var result = srm.IsHaveHeatBeat();

                sdaResult.result = true;
                sdaResult.resData = result;
                return sdaResult;

            }
            catch (Exception ex)
            {
                msg = "验证是否有心跳出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


        /// <summary>
        /// 堆垛机是否满足下发任务的要求
        /// </summary>
        /// <returns></returns>
        public SdaResEntity IsAllowIssueTask(int deviceId)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == deviceId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }

                var result = false;
                if ((srm.View.R_Mode != Convert.ToInt32(ESrmMode.自动) || srm.View.R_State != Convert.ToInt32(ESrmState.空闲) || srm.View.R_AlarmCode > 0))
                    result = false;
                result = true;

                sdaResult.result = true;
                sdaResult.resData = result;
                return sdaResult;

            }
            catch (Exception ex)
            {
                msg = "验证堆垛机是否满足下发任务的要求出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }



        /// <summary>
        /// 写入STB
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public SdaResEntity WriteStb(int deviceId, int value)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == deviceId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }

                MessageModel fr = srm.plcService.WriteValuePoint(srm.DBBlockForWrite.W_Stb, value, srm.View.W_Stb);
                if (fr.result)
                {
                    sdaResult.result = true;
                    return sdaResult;
                }
                else
                {
                    sdaResult.resMsg = fr.resMsg;
                    return sdaResult;
                }
            }
            catch (Exception ex)
            {
                msg = "写入STB出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }

        /// <summary>
        /// 写入AckTaskFinish
        /// </summary>
        /// <param name="deviceId"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public SdaResEntity WriteAckTaskFinish(int deviceId, int value)
        {
            SdaResEntity sdaResult = new SdaResEntity();
            string msg;
            try
            {
                var srm = Srm_CacheEntity.DeviceObjs.FirstOrDefault(x => x.View.DeviceId == deviceId);
                if (srm == null)
                {
                    sdaResult.resMsg = nofoundStackerMsg;
                    return sdaResult;
                }

                MessageModel fr = srm.plcService.WriteValuePoint( srm.DBBlockForWrite.W_TaskFinishConfirm, value, srm.View.W_TaskFinishConfirm);
                if (fr.result)
                {
                    sdaResult.result = true;
                    return sdaResult;
                }
                else
                {
                    sdaResult.resMsg = fr.resMsg;
                    return sdaResult;
                }
            }
            catch (Exception ex)
            {
                msg = "写入Task_Finish_ACK出现异常:" + ex.Message;
                Log4NetHelper.WriteErrorLog(LogType.SrmSdaService, msg, ex);
                sdaResult.result = false;
                sdaResult.resMsg = msg;
                return sdaResult;
            }
        }


    }
}