using DataEntity.Rack;
using DataRWDAL;
using DriverLib.Engine;
using HxEnum;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Xml;
using XCoreBLL.Resource;
using XImagingXhandler.XDAL;

namespace XCore
{
    public class GripTransportBll
    {

        #region 获取抓板方向
        /// <summary>
        /// 获取抓板方向
        /// </summary>
        /// <param name="softwareDevicNumber"></param>
        /// <returns></returns>
        public List<GripTransportModel> GenerateGripTransportModel(string softwareDevicNumber)
        {
            List<GripTransportModel> gripTransportModels= new List<GripTransportModel>();
            GripTransportModel gripTransportModel = null;

            gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Right).ToString();
            gripTransportModel.model_name = "夹爪轴心在板位右侧";
            gripTransportModels.Add(gripTransportModel);

            gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Left).ToString();
            gripTransportModel.model_name = "夹爪轴心在板位左侧";
            gripTransportModels.Add(gripTransportModel);

            gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Up).ToString(); ;
            gripTransportModel.model_name = "夹爪轴心在板位上侧";
            gripTransportModels.Add(gripTransportModel);

            gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Down).ToString(); ;
            gripTransportModel.model_name = "夹爪轴心在板位下侧";
            gripTransportModels.Add(gripTransportModel);

            return gripTransportModels;
        }
        #endregion

        #region 构建抓板时的模式位置数据
        public List<GripTransportModel> GetGripTransportModelPoss()
        {
            List<GripTransportModel> gripTransportModels = new List<GripTransportModel>();
            GripTransportModel gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = "1";
            gripTransportModel.model_name = "底部";
            gripTransportModels.Add(gripTransportModel);

            gripTransportModel = new GripTransportModel();
            gripTransportModel.model_id = "2";
            gripTransportModel.model_name = "顶部";
            gripTransportModels.Add(gripTransportModel);

            return gripTransportModels;
        }
        #endregion

        string strCurrentCulture = "";
        public GripTransportBll()
        {
            strCurrentCulture = System.Threading.Thread.CurrentThread.CurrentCulture.Name;
        }

        /// <summary>
        /// 生成抓板转移方法的xml节点属性对象
        /// </summary>
        /// <param name="xmlNode">抓板转移方法的xml节点</param>
        /// <returns>抓板转移方法的xml节点属性对象</returns>
        public MethodGripTransport GenerateMethodGripTransport(XmlNode xmlNode)
        {
            MethodGripTransport methodGripTransport = new MethodGripTransport();
            methodGripTransport.isrun = xmlNode.SelectSingleNode("isrun").InnerText;
            methodGripTransport.status = xmlNode.SelectSingleNode("status").InnerText;
            methodGripTransport.name = xmlNode.SelectSingleNode("name").InnerText;
            methodGripTransport.strIndex = xmlNode.SelectSingleNode("strIndex").InnerText;
            methodGripTransport.label = xmlNode.SelectSingleNode("label").InnerText;
            methodGripTransport.armText = xmlNode.SelectSingleNode("arm/text").InnerText;
            methodGripTransport.armValue = xmlNode.SelectSingleNode("arm/value").InnerText;

            #region 来源点位
            methodGripTransport.srcPositionText = xmlNode.SelectSingleNode("sourceLattice/text").InnerText;
            methodGripTransport.srcPositionValue = xmlNode.SelectSingleNode("sourceLattice/value").InnerText;
            methodGripTransport.srcPositionType = Convert.ToInt32(xmlNode.SelectSingleNode("sourceLattice/type").InnerText);
            #endregion

            #region 目标点位
            methodGripTransport.desPositionText = xmlNode.SelectSingleNode("destinationLattice/text").InnerText;
            methodGripTransport.desPositionValue = xmlNode.SelectSingleNode("destinationLattice/value").InnerText;
            methodGripTransport.desPositionType = Convert.ToInt32(xmlNode.SelectSingleNode("destinationLattice/type").InnerText);
            #endregion

            methodGripTransport.gripModelText = xmlNode.SelectSingleNode("gripModel/text").InnerText;
            methodGripTransport.gripModelValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModel/value").InnerText);
            methodGripTransport.gripModelSetText = xmlNode.SelectSingleNode("gripModelSet/text").InnerText;
            methodGripTransport.gripModelSetValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModelSet/value").InnerText);
            methodGripTransport.gripPickLabwareText = xmlNode.SelectSingleNode("gripPickObject/text").InnerText;
            methodGripTransport.gripPickLabwareValue = xmlNode.SelectSingleNode("gripPickObject/value").InnerText;
            methodGripTransport.pickPosMode = xmlNode.SelectSingleNode("pickPosMode")!=null? Convert.ToInt32(xmlNode.SelectSingleNode("pickPosMode").InnerText):0;
            methodGripTransport.pickPosValue = xmlNode.SelectSingleNode("pickPosValue") != null ? xmlNode.SelectSingleNode("pickPosValue").InnerText : "0";

            methodGripTransport.gripPlaceLabwareText = xmlNode.SelectSingleNode("gripPlaceObject/text").InnerText;
            methodGripTransport.gripPlaceLabwareValue = xmlNode.SelectSingleNode("gripPlaceObject/value").InnerText;

            methodGripTransport.gripModelPosText = xmlNode.SelectSingleNode("gripModelPos/text").InnerText;
            methodGripTransport.gripModelPosValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModelPos/value").InnerText);
            methodGripTransport.placePosMode = xmlNode.SelectSingleNode("placePosMode") != null ? Convert.ToInt32(xmlNode.SelectSingleNode("placePosMode").InnerText) : 0;
            methodGripTransport.placePosValue = xmlNode.SelectSingleNode("placePosValue") != null ? xmlNode.SelectSingleNode("placePosValue").InnerText : "0";

            methodGripTransport.transportMode= Convert.ToInt32(xmlNode.SelectSingleNode("transportMode").InnerText);
            methodGripTransport.transportCount = Convert.ToInt32(xmlNode.SelectSingleNode("transportCount").InnerText);
            return methodGripTransport;
        }

        #region 检查所有属性设置是否满足要求
        /// <summary>
        /// 检查所有属性设置是否满足要求
        /// </summary>
        /// <param name="methodAspirate">抓板转移属性对象</param>
        /// <returns>检查所有属性设置是否满足要求</returns>
        public MethodPropertyInfo CheckProperty(MethodGripTransport methodGripTransport)
        {
            MethodPropertyInfo methodPropertyInfo = new MethodPropertyInfo();

            if (strCurrentCulture == "zh-CN")
            {
                methodPropertyInfo.property_tips_info = GripTransportResourceCHS.tipsInfo.ToString();

                if (methodGripTransport.armText == null || methodGripTransport.armText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceCHS.armText.ToString();
                }
                if (methodGripTransport.srcPositionText == null || methodGripTransport.srcPositionText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceCHS.sourceLatticeText.ToString();
                }
                if (methodGripTransport.desPositionText == null || methodGripTransport.desPositionText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceCHS.destinationLatticeText.ToString();
                }
            }
            else if (strCurrentCulture == "en-US")
            {
                methodPropertyInfo.property_tips_info = GripTransportResourceENU.tipsInfo.ToString();

                if (methodGripTransport.armText == null || methodGripTransport.armText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceENU.armText.ToString();
                }
                if (methodGripTransport.srcPositionText == null || methodGripTransport.srcPositionText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceENU.sourceLatticeText.ToString();
                }
                if (methodGripTransport.desPositionText == null || methodGripTransport.desPositionText == "")
                {
                    methodPropertyInfo.property_name_info = GripTransportResourceENU.destinationLatticeText.ToString();
                }
            }
            return methodPropertyInfo;
        }
        #endregion

        #region 判断当前板位左右是否有障碍耗材
        /// <summary>
        /// 判断当前板位左右是否有障碍耗材
        /// </summary>
        /// <param name="latticesNode">当前板位数据节点xml</param>
        /// <param name="methodNode">夹爪方法属性参数xml节点对象</param>
        /// <param name="software_device_number">当前设备号</param>
        /// <param name="fGripperBaseHeight">夹爪指尖与夹爪横梁之间距离高度</param>
        /// <param name="isSourceLattice">是否来源板位;1是；2目标板</param>
        /// <returns>0：没有障碍，夹爪正常位抓取；1：较小编号台面有障碍;3:较大编号台面有障碍；2；前后两个都有障碍</returns>
        public int IsExistObstacle(XmlNode latticesNode, XmlNode methodNode, string software_device_number, float fGripperBaseHeight, int isSourceLattice)
        {
            int iResult = 0;
            string strSrcLatticeid = "";
            if (isSourceLattice == 1)
            {
                strSrcLatticeid = methodNode.SelectSingleNode("sourceLattice/value").InnerText;//来源板
            }else if(isSourceLattice==2)
            {
                strSrcLatticeid = methodNode.SelectSingleNode("destinationLattice/value").InnerText;//来源板
            }
            ArrayList arrayList = GetFourDirectionLatticeId(Convert.ToInt32(strSrcLatticeid), software_device_number);
            for (int i = 0; i < arrayList.Count; i++)
            {
                var latticeXn = latticesNode.SelectSingleNode("platform[lattice_id=" + arrayList[i] + "]");
                string strlabwareId = "";
                if (latticeXn != null)
                {
                    strlabwareId = latticeXn.SelectSingleNode("labware_id").InnerText;//板位上放的耗材Id
                    //数据库读取耗材个总高度
                    //判断耗材的高度是否在夹爪的安全抓取范围
                    //夹爪正向耗材是在范围;夹爪纵向耗材是在范围;两者都在安全范围；两者都不在安全范围；
                    ObservableCollection<XImagingXhandler.XDAL.Labware> labwares = LabwareDB.GetLabware(1, strlabwareId);
                    if (labwares.Count == 0)
                    {
                        labwares = LabwareDB.GetLabware(0, strlabwareId);
                    }

                    if (labwares.Count >= 1)
                    {
                        if (labwares[0].labware_height >= fGripperBaseHeight)
                        {
                            if (arrayList.Count == 1 && ((int)arrayList[i] < Convert.ToInt32(strSrcLatticeid)))
                            {
                                iResult = 1;
                            }
                            else if (arrayList.Count == 1 &&((int)arrayList[i] > Convert.ToInt32(strSrcLatticeid)))
                            {
                                iResult = 3;
                            }
                            else
                            {
                                iResult++;
                            }
                        }
                    }
                }
                else
                {

                }
            }

            return iResult;
        }
        #endregion

        #region 根据当前板位Id,获取其四周的板位Id
        /// <summary>
        /// 根据当前板位Id,获取其四周的板位Id
        /// </summary>
        /// <param name="currentLatticeId">当前板位id</param>
        /// <param name="software_device_number">当前设备号</param>
        /// <returns></returns>
        public ArrayList GetFourDirectionLatticeId(int currentLatticeId, string software_device_number)
        {
            ArrayList arrayList= new ArrayList();
            Lattice lattice = LatticeDB.GetLatticeDataByIdFromdb(currentLatticeId.ToString());
            int currentLatticeIndex = Convert.ToInt32(lattice.lattice_num.Substring(1, lattice.lattice_num.Length - 1));

            return arrayList;
        }
        #endregion

        #region 执行抓板，返回结果字符串
        /// <summary>
        /// 执行放板，返回结果字符串
        /// </summary>
        /// <param name="gripTransportMParam">抓板动作参数实体</param>
        /// <param name="isSimulator">0：连接设备；1：虚拟运行</param>
        /// <returns>结果实体对象</returns>
        public HxResult ExecuteGripTransportPick(GripTransportMParam gripTransportMParam, bool isSimulator = false)
        {
            HxResult ret = new HxResult();
            if (!isSimulator)
            {
                ret = MethodAction.Instance.Pick(gripTransportMParam);
            }
            else
            {
                System.Threading.Thread.Sleep(1000);
                ret.Result = ResultType.Success;
                //ret.AlarmInfo = "空测试";
            }

            return ret;
        }
        #endregion

        #region 执行放板，返回结果字符串
        /// <summary>
        /// 执行放板，返回结果字符串
        /// </summary>
        /// <param name="gripTransportMParam">放板动作参数实体</param>
        /// <param name="isSimulator">0：连接设备；1：虚拟运行</param>
        /// <returns>结果实体对象</returns>
        public HxResult ExecuteGripTransportPlace(GripTransportMParam gripTransportMParam, bool isSimulator=false)
        {
            HxResult ret = new HxResult();
            if (!isSimulator)
            {
                ret = MethodAction.Instance.Place(gripTransportMParam);
            }
            else
            {
                System.Threading.Thread.Sleep(1000);
                ret.Result = ResultType.Success;
            }

            return ret;
        }
        #endregion
    }
}