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.Data;
using System.Linq;
using System.Windows;
using System.Windows.Media;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XHandler.View.MethodProperty;
using XImaging.Automation.Service.Interface;
using XImagingXhandler.XDAL;
using static HxEnum.OtherEnum;

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

        #region 涂布用变量
        public static MethodCoatingAndTransfer CoatingData = null;
      
        // 当前孔在所有有效孔中的排序
        private static int m_curValidWellIndex = -1;
        // 全部有效孔位list：A1、B1、C1
        private static List<string> m_lstAllValidWells = new List<string>();
        // 涂布台面位置
        private static string m_coatingLatticeName = string.Empty;
        // 涂布板位lattice_id
        private static int m_latticeid = -1;
        // 涂布耗材条码
        private static string m_coatingLabwareBarcode = string.Empty;
        // 当前涂布板位的台面信息
        private static XmlNode m_curCoatingLabNode = null;
        // 当前涂布的孔位：A1
        private static string m_curValidWell = string.Empty;
        // 剩余有效孔位list：B1、C1
        private static List<string> m_lstResidueValidWells = new List<string>();
        // 主z轴默认安全坐标点距
        private static float m_zAxisSafeVal = 0;
        #endregion

        #region BLL
        private static CoatingBll coatingBll = new CoatingBll();
        private BacteriaBll bacteriaBll = new BacteriaBll();
        #endregion

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

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

        #region 执行涂布转板
        /// <summary>
        /// 执行涂布转板
        /// </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 ExecuteCoatingTransfer(XmlNode xmlEnv, XmlNode methodNode, bool isSimulator)
        {
            int nResult = 2;
            var platformNodeList = xmlEnv.SelectNodes("platform");
            string strMethodName = methodNode.SelectSingleNode("name").InnerText;

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

            #region RunLog start
            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
                // 获取涂布信息
                if (!GetInfo(methodNode, xmlEnv, isSimulator))
                {
                    nResult = 0;
                    return nResult;
                }
                #endregion

                // 涂布板位的开盖 => 挑选节点已经执行
                #region 涂布
                // 获取板位坐标
                Lattice latticeDes = LatticeDB.GetLatticeDataByIdFromdb(m_latticeid.ToString());
                // 获取耗材信息
                Labware labwareDes = LabwareDB.GetLabware(CoatingData.coatingLabwareAValue);
                // 获取板位孔的坐标数据
                List<TipsTable> lstTipsTable = ControlCom.GenerateWellCoordinate(labwareDes, latticeDes);

                // 获取耗材上指定孔位的坐标
                TipsTable targetWellInfo = lstTipsTable.SingleOrDefault(t => t.lattice_id.Equals(m_latticeid.ToString())
                                            && t.labware_id.Equals(CoatingData.coatingLabwareAValue)
                                            && t.wellname.Equals(m_curValidWell));

                #region 涂布方式 1:回字型  2:Z字型;3:上下移动
                if (CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.HuiziMode) ||
                    CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.ZMode) ||
                    CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.UpDownMode))
                {
                    #region 涂布
                    CoatingMParam coatingMParam = new CoatingMParam();
                    coatingMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString());
                    coatingMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString());
                    coatingMParam.armId = Convert.ToInt32(CoatingData.armValue);
                    coatingMParam.channelId = 1;
                    float zVal = targetWellInfo.axis_b_Z;
                    if (ChoiceTransferControl.BacteriaInfo != null)
                    {
                        // 涂布距离底部距离
                        zVal = zVal - float.Parse(ChoiceTransferControl.BacteriaInfo.coating_position_distance.ToString());
                    }
                    coatingMParam.zAxisVal = zVal < 0 ? 0 : zVal;                       // 涂布主z轴移动坐标点距
                    coatingMParam.zChAxisVal = coatingMParam.zAxisVal;
                    coatingMParam.coatingShape = CoatingData.coatingModeValue;          // 涂布形状：1：回形；2：Z形；3：上下
                                                                                        // 涂布范围值：如果是圆形孔值为半径；如是方形孔值为边长一半
                    coatingMParam.rangeVal = labwareDes.well_shape == 1 ?
                    ((float)labwareDes.well_mouth_radius) : ((float)(labwareDes.well_top_x / 2.0d));
                    coatingMParam.basezAxisVal = m_zAxisSafeVal;                        // 主z轴默认安全坐标点距
                    coatingMParam.coatingSpeed = float.Parse(ConfigurationManager.AppSettings["coatingSpeed"].ToString());              // 涂布电机速度
                    coatingMParam.coatingTipsOutWidth = ControlCom.OutWidthOfTip;       // 涂布枪头头部外宽度
                    coatingMParam.coatingTipsInWidth = ControlCom.InWidthOfTip;         // 涂布枪头头部内宽度
                    coatingMParam.enableSupersonic = false;
                    coatingMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip;   // 当前涂布安装枪头后，枪增加的长度
                                                                                        // 单孔板中心坐标x,y,z   字符串，逗号分割
                    coatingMParam.centerPointVal = ((float)latticeDes.lattice_X + ((float)latticeDes.lattice_length / 2)).ToString() + "," + ((float)latticeDes.lattice_Y + ((float)latticeDes.lattice_width / 2)).ToString() + "," + coatingMParam.zAxisVal.ToString();
                    coatingMParam.latticeName = m_coatingLatticeName;

                    // 上下移动
                    if (coatingMParam.coatingShape == EnumManagement.GetEnumValue(CoatingModeEnum.UpDownMode))
                    {
                        coatingMParam.zAxisVal -= CoatingData.distanceFromBottom;
                        coatingMParam.zAxisOffsetVal = CoatingData.shakeDistanceValue;
                        coatingMParam.zAxisOffsetCount = CoatingData.shakeCountValue;
                    }

                    // 执行涂布动作
                    bool bIsOk = ControlCom.RunCoating(LaunchView, strMethodName, coatingMParam, targetWellInfo, m_curValidWell,
                        m_coatingLatticeName, m_coatingLabwareBarcode, isSimulator);
                    if (!bIsOk)
                    {
                        return 0;
                    }
                    #endregion
                }
                #endregion

                #region 涂布方式 5:放液
                else if (CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.DispenseMode))
                {
                    if (ChoiceTransferControl.ChoiceData == null)
                    {
                        LoggerRunHelper.ErrorLog(string.Format("[ExecuteCoatingTransfer]: ChoiceTransferControl.ChoiceData = null !!!"));
                        return 0;
                    }

                    // 放液
                    bool bDispense = ControlCom.DoDispense(LaunchView, strMethodName, ChoiceTransferControl.ChoiceData.choiceAgoAspirateData,
                        labwareDes, latticeDes, targetWellInfo, m_coatingLabwareBarcode, isSimulator);
                    if (!bDispense)
                    {
                        return 0;
                    }
                }
                #endregion

                #endregion

                #region 卸载Tip,丢在垃圾桶
                UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
                unloadTipsControl.launchView = LaunchView;
                unloadTipsControl.socketTcpClientToRemote = socketTcpClientToRemote;
                bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                LaunchView.currentIsLoadingTips = false;
                #endregion

                #region 自动关盖
                // 获取挑菌类型所有效的孔
                ResidueValidWells residueValidWells = ChoiceTransferControl.GetResidueValidWells();
                bool isForceCloseClover = residueValidWells == null ? true : false;

                // 自动关闭挑选板盖
                bool bResult = ChoiceTransferControl.CloseClover(xmlEnv, isSimulator, isForceCloseClover);
                if (!bResult)
                {
                    return 0;
                }

                // 自动关闭涂布板盖
                bResult = CloseClover(xmlEnv, isSimulator, isForceCloseClover);
                if (!bResult)
                {
                    return 0;
                }
                #endregion

                // 删除当前涂布孔位
                m_lstResidueValidWells.RemoveAt(0);
                // 更新剩余有效孔位
                m_curCoatingLabNode.SelectSingleNode("residueValidWells").InnerText = string.Join(",", m_lstResidueValidWells);
            }
            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;

                #region Del
                //MethodMsg methodMsg = new MethodMsg(
                //    Guid.NewGuid().ToString(),
                //    "ID202_Choice_machine",
                //    5,
                //    "",
                //    "ExecuteCoatingFile",
                //    "1001",
                //    "error source:" + ex.Source + ";error:" + ex.Message,
                //    6,
                //    0
                //);
                //if (socketTcpClientToRemote != null)
                //{
                //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), LaunchView.isRemotingOper);
                //}
                #endregion
                #endregion
            }

            return nResult;
        }
        #endregion

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

            // 获取涂布信息
            if (!GetInfo(methodNode, xmlEnv, isSimulator))
            {
                bResult = false;
                return bResult;
            }

            // 自动开盖: 当前孔是第一个有效孔
            if (CoatingData != null && 
                CoatingData.autoOpenCloseCover == 1 &&
                m_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：P13->P3
                bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, m_coatingLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right,
                    listCoatingCoverLatticeId[1], 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 (CoatingData != null &&
                CoatingData.autoOpenCloseCover == 1 &&
                ((m_curValidWellIndex == m_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->P10
                bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, listCoatingCoverLatticeId[1], PositonTypeEnum.Desktop, GripperModelEnum.Right,
                    m_coatingLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Close);
                return bResult;
            }

            return bResult;
        }
        #endregion

        /// <summary>
        /// 获取涂布信息
        /// </summary>
        /// <param name="methodNode"></param>
        /// <param name="xmlEnv"></param>
        /// <param name="isSimulator"></param>
        /// <returns></returns>
        private static bool GetInfo(XmlNode methodNode, XmlNode xmlEnv, bool isSimulator)
        {
            #region 数据准备1
            // 获取涂布转移数据
            CoatingData = coatingBll.GenerateMethodCoatingAndTransferDataByXmlNode(methodNode);
            m_curCoatingLabNode = null;                         // 当前涂布板位的台面信息
            m_curValidWell = string.Empty;                      // 当前涂布的孔位：A1
            m_lstResidueValidWells = new List<string>();        // 剩余有效孔位list：B1、C1
            m_coatingLatticeName = string.Empty;                // 涂布台面位置
            m_coatingLabwareBarcode = string.Empty;             // 涂布耗材条码
        
            // Z轴安全位置
            m_zAxisSafeVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

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

            #region 获取涂布类型所有效的孔
            // 生成和涂布耗材类型一致的条件
            string strCoatingLabwareWhere = string.Format("platform[labware_id='{0}']", CoatingData.coatingLabwareAValue);
            // 获取满足涂布耗材类型的所有台面点位
            XmlNodeList coatingLabwareNodeList = xmlEnv.SelectNodes(strCoatingLabwareWhere);

            // 循环台面耗材点位，查找涂布耗材剩余量
            #region 补充耗材数据准备
            DataTable dtCoatingFile = new DataTable();
            dtCoatingFile.Columns.Add("TargetB", typeof(string));
            dtCoatingFile.Columns.Add("TargetBarcode", typeof(string));
            dtCoatingFile.Columns.Add("IsNewPlateBatch", typeof(string));
            #endregion

            foreach (XmlNode coatingLabNode in coatingLabwareNodeList)
            {
                #region 补充耗材数据准备
                DataRow dtRow = dtCoatingFile.NewRow();
                dtRow["TargetB"] = coatingLabNode.SelectSingleNode("labware_sname").InnerText;
                dtRow["TargetBarcode"] = "";
                dtRow["IsNewPlateBatch"] = "false";
                dtCoatingFile.Rows.Add(dtRow);
                #endregion

                string residueValidWells = coatingLabNode.SelectSingleNode("residueValidWells").InnerText;

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

                m_curCoatingLabNode = coatingLabNode;
                break;
            }

            // 涂布无剩余有效的孔,显示补充耗材提示
            if (m_lstResidueValidWells.Count == 0)
            {
                // 状态6 报错/急停 红闪/蜂鸣5S
                CommonBll.StatusLamp(6, isSimulator);

                SetBarcodeDlgForAddConsumables setBarcodeDlg = null;
                bool bIsBreak = false;
                Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    #region 条码赋值
                    string strMsg = string.Format(Properties.CoatingResource.strNoValidConsumables, Environment.NewLine);
                    setBarcodeDlg = new SetBarcodeDlgForAddConsumables(strMsg);
                    setBarcodeDlg.launchView = LaunchView;
                    setBarcodeDlg.dtCoatingFile = dtCoatingFile;

                    SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                    setBarcodeDlg.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                    setBarcodeDlg.ShowDialog();

                    if (setBarcodeDlg.DialogResult == true)
                    {
                        foreach (XmlNode choiceLabwareNode in coatingLabwareNodeList)
                        {
                            string labwareNameUpdate = choiceLabwareNode.SelectSingleNode("labware_sname").InnerText;
                            DataRow[] selRowUpdate = dtCoatingFile.Select(string.Format("TargetB = '{0}'", labwareNameUpdate));
                            if (selRowUpdate != null)
                            {
                                string targetBarcode = selRowUpdate[0]["TargetBarcode"].ToString();
                                choiceLabwareNode.SelectSingleNode("labware_barcode").InnerText = targetBarcode;
                            }
                            // 更新已使用的涂布目标孔的颜色
                            ControlCom.UpdateDesPlateWellsColor(xmlEnv, choiceLabwareNode.SelectSingleNode("labware_sname").InnerText, LaunchView);
                        }

                        // 继续执行

                        // 状态4 运行 绿色
                        CommonBll.StatusLamp(4, isSimulator);
                    }
                    else
                    {
                        bIsBreak = true;
                    }
                    #endregion
                }));

                if (bIsBreak)
                {
                    return false;
                }

                return GetInfo(methodNode, xmlEnv, isSimulator);
            }
            #endregion

            #region 数据准备2
            // 全部有效孔list
            string allValidWells = m_curCoatingLabNode.SelectSingleNode("allValidWells").InnerText;
            m_lstAllValidWells = ComUtility.GetValidWells(allValidWells);
            // 当前涂布的孔位
            m_curValidWell = m_lstResidueValidWells[0];
            // 当前孔在所有有效孔中的排序
            m_curValidWellIndex = m_lstAllValidWells.IndexOf(m_curValidWell);
            // 涂布板位：P13
            m_coatingLatticeName = m_curCoatingLabNode.SelectSingleNode("labware_sname").InnerText;
            // 涂布耗材条码
            m_coatingLabwareBarcode = m_curCoatingLabNode.SelectSingleNode("labware_barcode").InnerText;
            // 涂布板位lattice_id
            m_latticeid = ControlCom.GetLatticeId(Convert.ToInt32(m_curCoatingLabNode.SelectSingleNode("lattice_id").InnerText));
            #endregion

            return true;
        }
    }
}