using DataEntity.Rack;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using HxEnum;
using HxSocket;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Linq;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XImagingXhandler.XDAL;
using static HxEnum.OtherEnum;

namespace XHandler.Controls
{
    /// <summary>
    /// 挑选转板控制逻辑类
    /// </summary>
    public class ChoiceTransferControl
    {
        #region 变量
        // 系统语言
        private string m_currentCulture = string.Empty;
        private WellCalc wellCalc = new WellCalc();

        #region 挑菌用变量
        public static MethodChoiceAndTransfer ChoiceData = null;
        // 当前孔在所有有效孔中的排序
        private static int CurValidWellIndex = -1;
        // 全部有效孔位list：A1、B1、C1
        private static List<string> LstAllValidWells = new List<string>();
        // 挑菌台面位置
        private static string ChoiceLatticeName = string.Empty;
        // 菌落信息
        public static Bacteria BacteriaInfo = null;
        private static XmlNode XmlEnv = null;
        private bool IsSimulator = false;
        #endregion

        #region BLL
        private CoatingFileBll coatingFileBll = new CoatingFileBll();
        private BacteriaBll bacteriaBll = new BacteriaBll();
        public static ChoiceBll choiceBll = new ChoiceBll();
        #endregion

        // 运行界面
        public static RunWnd LaunchView = null;
        public HxSocketClient SocketTcpClientToRemote = null;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public ChoiceTransferControl()
        {
            m_currentCulture = Shared.SoftwareInformation.currentculture;
        }

        #region 执行挑选转板
        /// <summary>
        /// 执行挑选转板
        /// </summary>
        /// <param name="xmlEnv"></param>
        /// <param name="methodNode"></param>
        /// <param name="isSimulator"></param>
        /// <returns>0:异常结束, 1:正常继续(跳出for)，2:正常结束</returns>
        public int ExecuteChoiceTransfer(XmlDocument xmlDocument, XmlNode methodNode, bool isSimulator)
        {
            int nResult = 2;
            bool bResult = false;
            this.IsSimulator = isSimulator;
            string strMethodName = methodNode.SelectSingleNode("name").InnerText;

            #region 任务被取消
            if (LaunchView._cancelSource.IsCancellationRequested)
            {
                nResult = 0;
                return nResult;
            }
            #endregion

            XmlEnv = xmlDocument.SelectSingleNode("root/env");

            #region Log
            if (m_currentCulture.Equals("zh-CN"))
            {
                LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.MachineRunResource.strStart.ToString());
            }
            else
            {
                LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】start:");
            }
            #endregion

            try
            {
                #region 数据准备1
                ChoiceData = choiceBll.GenerateMethodChoiceAndTransferDataByXmlNode(methodNode);

                XmlNode curChoiceLabNode = null;                            // 当前挑菌板位的台面信息
                string curValidWell = string.Empty;                         // 当前挑菌的孔位：A1
                List<string> lstResidueValidWells = new List<string>();     // 剩余有效孔位list：B1、C1
                ChoiceLatticeName = string.Empty;                           // 挑菌台面位置
                string choiceLabwareBarcode = string.Empty;                 // 挑菌耗材条码
                int nLatticeid = -1;                                        // 挑菌板位lattice_id
                // Z轴安全位置
                float zAxisSafeVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                BacteriaInfo = bacteriaBll.GetABacteria(ChoiceData.bacteriaValue);

                LoggerHelper.InfoLog($"[ChoiceTransferControl]:Args:  {JsonConvert.SerializeObject(ChoiceData)}");
                #endregion

                #region 获取挑菌类型所有效的孔
                ResidueValidWells residueValidWells = GetResidueValidWells();
                if (residueValidWells == null)
                {
                    LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.ChoiceResource.strNoValidWells.ToString());
                    nResult = 1;
                    return nResult;
                }

                curChoiceLabNode = residueValidWells.CurChoiceLabNode;
                lstResidueValidWells = residueValidWells.LstResidueValidWells;
                #endregion

                #region 数据准备2
                // 全部有效孔list
                string allValidWells = curChoiceLabNode.SelectSingleNode("allValidWells").InnerText;
                LstAllValidWells = ComUtility.GetValidWells(allValidWells);
                // 当前挑菌的孔位
                curValidWell = lstResidueValidWells[0];
                // 当前孔在所有有效孔中的排序
                CurValidWellIndex = LstAllValidWells.IndexOf(curValidWell);
                // 挑菌板位：Px
                ChoiceLatticeName = curChoiceLabNode.SelectSingleNode("labware_sname").InnerText;
                // 挑菌耗材条码
                choiceLabwareBarcode = curChoiceLabNode.SelectSingleNode("labware_barcode").InnerText;
                // 挑菌板位lattice_id
                nLatticeid = ControlCom.GetLatticeId(Convert.ToInt32(curChoiceLabNode.SelectSingleNode("lattice_id").InnerText));
                #endregion

                #region 自动开盖
                // 自动开挑选板盖
                bResult = OpenClover(XmlEnv, isSimulator);
                if (!bResult)
                {
                    nResult = 0;
                    return nResult;
                }

                // 查找涂布转板方法
                XmlNodeList xmlNodeMethodList = xmlDocument.SelectNodes("root/method[label='涂布转板']");
                if (xmlNodeMethodList.Count > 0)
                {
                    // 自动开涂布板盖
                    CoatingTransferControl.LaunchView = LaunchView;
                    bResult = CoatingTransferControl.OpenClover(XmlEnv, xmlNodeMethodList[0], isSimulator);
                    if (!bResult)
                    {
                        nResult = 0;
                        return nResult;
                    }
                }
                #endregion

                #region 超声探测
                // 超声已开启
                if (CurValidWellIndex == 0 && ChoiceData.isEnableultrasonic)
                {
                    // 超声探测
                    int nRtn = ControlCom.DoUltrasonic(LaunchView, XmlEnv, methodNode, isSimulator, ChoiceLatticeName);
                    if (nRtn == 2)      // 2：停止
                    {
                        nResult = 0;
                        return nResult;
                    }
                }
                #endregion

                #region 安装涂布头
                //先去安装枪头
                float tipoffsetLength = float.Parse(methodNode.SelectSingleNode("choiceOffset").InnerText);
                bool bLoadTipResult = ControlCom.LoadTipAutomation(XmlEnv.SelectNodes("platform"), methodNode,
                    isSimulator, LaunchView, SocketTcpClientToRemote, tipoffsetLength);
                #endregion

                #region 挑选参数
                // 获取板位坐标
                Lattice latticeChoice = LatticeDB.GetLatticeDataByIdFromdb(nLatticeid.ToString());
                // 获取耗材信息
                Labware labwares = LabwareDB.GetLabware(ChoiceData.choiceLabwareValue);
                // 获取板位孔的坐标数据
                List<TipsTable> lstTipsTable = ControlCom.GenerateWellCoordinate(labwares, latticeChoice);

                // 获取耗材上指定孔位的坐标
                TipsTable targetWellInfo = lstTipsTable.SingleOrDefault(t => t.lattice_id.Equals(nLatticeid.ToString())
                                            && t.labware_id.Equals(ChoiceData.choiceLabwareValue)
                                            && t.wellname.Equals(curValidWell));
                #endregion

                #region 挑菌前吸液
                if (ChoiceData.choiceAgoAspirateData.bEnableBeforeAspirate)
                {
                    string wellName = string.Empty;
                    string labwareId = string.Empty;
                    ChoiceData.choiceAgoAspirateData.armValue = ChoiceData.armValue;

                    // 吸液用来源板的参数
                    if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode))      // 吸液
                    {
                        wellName = curValidWell;
                        labwareId = ChoiceData.choiceLabwareValue;
                    }
                    else
                    {
                        wellName = ChoiceData.choiceAgoAspirateData.wellarray;
                        labwareId = ChoiceData.choiceAgoAspirateData.labwareValue;
                    }

                    // 挑菌前吸液
                    Lattice latticeBeforeAspirate = null;
                    if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode))      // 吸液
                    {
                        ChoiceData.choiceAgoAspirateData.labwareValue = ChoiceData.choiceLabwareValue;      // 吸液耗材Id
                        ChoiceData.choiceAgoAspirateData.positionValue = nLatticeid.ToString();             // 吸液板位Id
                    }

                    // 获取台面板位信息
                    latticeBeforeAspirate = LatticeDB.GetLatticeDataByIdFromdb(ChoiceData.choiceAgoAspirateData.positionValue);
                    // 吸液
                    bool bBeforeAspirate = ControlCom.DoBeforeAspirate(LaunchView, XmlEnv, strMethodName,
                        ChoiceData.choiceAgoAspirateData, latticeBeforeAspirate,
                        wellName, labwareId, choiceLabwareBarcode, isSimulator);
                    if (!bBeforeAspirate)
                    {
                        nResult = 0;
                        return nResult;
                    }

                    // 吸液用来源板的参数
                    if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode))      // 吸液
                    {
                        // 更新挑菌孔位
                        UpdateChoiceWellData(lstResidueValidWells, curChoiceLabNode);
                    }
                }
                #endregion

                #region 挑选
                // 吸液以外
                if (ChoiceData.choiceMode != EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode))
                {
                    #region 执行挑选动作
                    ChoiceMParam choiceMParam = new ChoiceMParam();
                    choiceMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString()) +
                        float.Parse(BacteriaInfo.choice_xaxis_distance.ToString());
                    choiceMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString()) +
                        float.Parse(BacteriaInfo.choice_yaxis_distance.ToString());
                    choiceMParam.xAxisOffsetVal = 0;
                    choiceMParam.yAxisOffsetVal = 0;
                    choiceMParam.armId = Convert.ToInt32(ChoiceData.armValue);
                    choiceMParam.channelId = 1;
                    choiceMParam.choiceMode = ChoiceData.choiceMode;                                        // 挑菌模式:1：单选; 2：穿刺; 3：吸放液; 4：放液
                    choiceMParam.basezAxisVal = zAxisSafeVal;
                    choiceMParam.enableSupersonic = ChoiceData.isEnableultrasonic;                          // 挑菌时是否开启超声波探测值作为Z轴值：true：用；false：不用
                    choiceMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip;                        // 当前挑菌安装枪头后，枪增加的长度
                    choiceMParam.choiceTimeOnSameplace = 1;                                                 // 同一个菌落点第几次挑选；1：第一次；2：第二次...
                    choiceMParam.latticeName = ChoiceLatticeName;                                           // 挑菌板位名称

                    if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.SigleSelectMode))    // 单选
                    {
                        choiceMParam.xAxisOffsetVal = 0;
                        choiceMParam.yAxisOffsetVal = 0;
                        choiceMParam.zAxisVal = (float)targetWellInfo.axis_b_Z - float.Parse(BacteriaInfo.choice_position_distance.ToString());
                    }
                    else if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.PricksMode))    // 穿刺
                    {
                        choiceMParam.xAxisOffsetVal = float.Parse(BacteriaInfo.choice_xaxis_distance.ToString());
                        choiceMParam.yAxisOffsetVal = float.Parse(BacteriaInfo.choice_yaxis_distance.ToString());

                        // 丝状真菌-固定高度挑菌:板位Z高度 - 底孔高度 - 枪头突出高度 - 挑菌位置距离
                        choiceMParam.zAxisVal = (float)latticeChoice.lattice_Z - (float)Convert.ToDouble(labwares.well_bottom_height) -
                            ControlCom.CurrentLengthOfTip - (float)BacteriaInfo.choice_position_distance;
                    }

                    // 执行挑菌动作
                    bool bIsOk = ControlCom.RunChoice(LaunchView, strMethodName, choiceMParam, targetWellInfo.wellname,
                        ChoiceLatticeName, choiceLabwareBarcode, isSimulator, targetWellInfo);
                    if (!bIsOk)
                    {
                        return 0;
                    }
                    #endregion

                    // 更新挑菌孔位
                    UpdateChoiceWellData(lstResidueValidWells, curChoiceLabNode);
                }
                #endregion
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);

                #region Exception
                LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + strMethodName + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");
                nResult = 0;
                #endregion
            }

            return nResult;
        }

        /// <summary>
        /// 获取挑菌类型所有效的孔
        /// </summary>
        /// <returns></returns>
        public static ResidueValidWells GetResidueValidWells()
        {
            ResidueValidWells residueValidWells = null;
            List<string> lstResidueValidWells = new List<string>();     // 剩余有效孔位list：B1、C1

            // 生成和挑菌耗材类型一致的条件
            string strChoiceLabwareWhere = string.Format("platform[labware_id='{0}']", ChoiceData.choiceLabwareValue);
            // 获取满足挑菌耗材类型的所有台面点位
            XmlNodeList choiceLabwareNodeList = XmlEnv.SelectNodes(strChoiceLabwareWhere);

            // 循环台面耗材点位，查找
            foreach (XmlNode choiceLabwareNodeItem in choiceLabwareNodeList)
            {
                string strResidueValidWells = choiceLabwareNodeItem.SelectSingleNode("residueValidWells").InnerText;

                // 有效孔字符串转换成List
                lstResidueValidWells = ComUtility.GetValidWells(strResidueValidWells);
                if (lstResidueValidWells.Count == 0)
                {
                    continue;
                }

                residueValidWells = new ResidueValidWells();
                residueValidWells.CurChoiceLabNode = choiceLabwareNodeItem;
                residueValidWells.LstResidueValidWells = lstResidueValidWells;
                break;
            }

            return residueValidWells;
        }
        #endregion

        #region 自动开挑选板盖
        /// <summary>
        /// 自动开挑选板盖
        /// </summary>
        /// <param name="xmlEnv"></param>
        /// <param name="isSimulator"></param>
        /// <returns></returns>
        public static bool OpenClover(XmlNode xmlEnv, bool isSimulator)
        {
            bool bResult = true;

            // 自动开盖: 当前孔是第一个有效孔
            if (ChoiceData != null &&
                ChoiceData.autoOpenCloseCover == 1 &&
                CurValidWellIndex == 0)
            {
                // 挑菌的板放盖位号：P2,P3
                List<string> listCoatingCoverLatticeId = ComUtility.GetPlateCoverLatticeName();

                // 转移板盖到放盖位方法
                string strTransferPlateCoverMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
                    "\\" + ConfigurationManager.AppSettings["transferDesPlateCoverMethod"].ToString();

                // 转移目标板的盖到放盖位：PX->P2
                bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, ChoiceLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right,
                    listCoatingCoverLatticeId[0], PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Open);
                return bResult;
            }

            return bResult;
        }

        /// <summary>
        /// 自动关挑选板盖
        /// </summary>
        /// <param name="xmlEnv"></param>
        /// <param name="isSimulator"></param>
        /// <param name="isForceCloseClover">是否强制关盖</param>
        /// <returns></returns>
        public static bool CloseClover(XmlNode xmlEnv, bool isSimulator, bool isForceCloseClover = false)
        {
            bool bResult = true;

            // 自动关盖: 当前孔是第最后一个有效孔
            if (ChoiceData != null &&
                ChoiceData.autoOpenCloseCover == 1 &&
                ((CurValidWellIndex == LstAllValidWells.Count() - 1) || isForceCloseClover))
            {
                // 挑菌的板放盖位号：P2,P3
                List<string> listCoatingCoverLatticeId = ComUtility.GetPlateCoverLatticeName();
                // 转移板盖到放盖位方法
                string strTransferPlateCoverMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
                    "\\" + ConfigurationManager.AppSettings["transferDesPlateCoverMethod"].ToString();

                // 转移目标板的盖到板上：P2->Px
                bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, listCoatingCoverLatticeId[0], PositonTypeEnum.Desktop, GripperModelEnum.Right,
                    ChoiceLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Close);
            }

            return bResult;
        }
        #endregion

        /// <summary>
        /// 更新挑菌孔位
        /// </summary>
        /// <param name="lstResidueValidWells"></param>
        /// <param name="curChoiceLabNode"></param>
        private void UpdateChoiceWellData(List<string> lstResidueValidWells, XmlNode curChoiceLabNode)
        {
            // 删除当前挑菌孔位
            lstResidueValidWells.RemoveAt(0);
            // 更新剩余有效孔位
            curChoiceLabNode.SelectSingleNode("residueValidWells").InnerText = string.Join(",", lstResidueValidWells);
        }
    }
}