using Autofac;
using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Device.AuboRobot;
using Bro.Device.SeerAGV;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;

namespace A032.Process
{
    public enum TaskState
    {
        /// <summary>
        /// 新任务
        /// </summary>
        New = 0,
        /// <summary>
        /// 任务完成
        /// </summary>
        Done = 1,
        /// <summary>
        /// 任务失败
        /// </summary>
        Failed = 2,
        /// <summary>
        /// 任务已添加队列，等待执行
        /// </summary>
        Queueing = 3,
        /// <summary>
        /// 任务已指派
        /// </summary>
        Assigned = 4,
        /// <summary>
        /// 任务未指派，已取消
        /// </summary>
        Cancelled = 5,
    }

    public enum AGVState
    {
        /// <summary>
        /// AGV状态不可知
        /// </summary>
        Unknown = 0,
        /// <summary>
        /// 空闲状态，可接收任务
        /// </summary>
        Idle = 1,
        /// <summary>
        /// 任务执行中
        /// </summary>
        Running = 2,
        /// <summary>
        /// 报警中，不可执行任务
        /// </summary>
        Warning = 3,
        /// <summary>
        /// 充电中，不可执行任务
        /// </summary>
        InCharge = 4,
        /// <summary>
        /// 空闲充电状态，可接收任务
        /// </summary>
        IdleCharge = 5,
    }

    //public class AGVTaskModel
    //{
    //    public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;

    //    public string MethodName { get; set; }

    //    public IOperationConfig OpConfig { get; set; }

    //    public IDevice Device { get; set; }

    //    //public int Priority { get; set; } = 10;

    //    public AGVTaskModel() { }

    //    public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
    //    {
    //        Level = level;
    //        MethodName = methodName;
    //        OpConfig = opConfig ?? new OperationConfigBase();
    //        Device = device;
    //    }
    //}

    public class AGVBindUnit : IComplexDisplay
    {
        #region 可编辑项目
        [Category("设备绑定")]
        [Description("绑定Id")]
        [Browsable(false)]
        public string Id { get; set; } = Guid.NewGuid().ToString();

        [Category("设备绑定")]
        [Description("绑定AGV")]
        [TypeConverter(typeof(AGVDeviceConverter))]
        public string AGVId { get; set; }

        [Category("设备绑定")]
        [Description("绑定Robot")]
        [TypeConverter(typeof(RobotDeviceConverter))]
        public string RobotId { get; set; }

        [Category("设备绑定")]
        [Description("绑定Camera")]
        [TypeConverter(typeof(CameraDeviceConverter))]
        public string CameraId { get; set; }

        public string GetDisplayText()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                ProcessConfig config = scope.Resolve<ProcessConfig>();

                string agv = config.AGVConfigCollection.FirstOrDefault(u => u.ID == AGVId)?.Name ?? "未绑定AGV";
                string robot = config.RobotConfigCollection.FirstOrDefault(u => u.ID == RobotId)?.Name ?? "未绑定机器人";
                string camera = config.CameraConfigCollection.FirstOrDefault(u => u.ID == CameraId)?.Name ?? "未绑定相机";

                return agv + "-" + robot + "-" + camera;
            }
        }
        #endregion

        #region 后台属性
        #region 状态
        private AGVState unitState = AGVState.Idle;
        [Browsable(false)]
        [JsonIgnore]
        public AGVState UnitState
        {
            get => unitState;
            set
            {
                if (value != unitState)
                {
                    var preState = unitState;
                    unitState = value;

                    OnUnitStateChanged?.Invoke(this.Id, preState, unitState);
                }
            }
        }

        [Browsable(false)]
        [JsonIgnore]
        public List<string> WarningMsg { get; set; } = new List<string>();
        #endregion

        #region 设备
        [Browsable(false)]
        [JsonIgnore]
        public SeerAGVDriver AGV { get; set; } = null;
        [Browsable(false)]
        [JsonIgnore]
        public AuboRobotDriver Robot { get; set; } = null;
        [Browsable(false)]
        [JsonIgnore]
        public CameraBase Camera { get; set; } = null;
        #endregion

        #region 任务信息
        [JsonIgnore]
        [Browsable(false)]
        public string CurrentTaskId { get; set; }

        [JsonIgnore]
        [Browsable(false)]
        public bool IsTaskCancelled { get; set; } = false;

        [JsonIgnore]
        [Browsable(false)]
        public bool IsTaskCancelling { get; set; } = false;
        #endregion

        #region 事件
        [JsonIgnore]
        [Browsable(false)]
        public Action<string, AGVState, AGVState> OnUnitStateChanged { get; set; }
        #endregion

        #region 托盘信息
        [JsonIgnore]
        [Browsable(false)]
        public int FullTrayNum { get; set; }

        [JsonIgnore]
        [Browsable(false)]
        public int EmptyTrayNum { get; set; }
        #endregion
        #endregion

        public AGVBindUnit()
        {
        }

        public void Reset()
        {
            WarningMsg.Clear();
            UnitState = AGVState.Idle;

            AGV.ResetAlarm();
            Robot.ResetAlarm();
        }
    }

    public class AGVDeviceConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                ProcessConfig config = scope.Resolve<ProcessConfig>();

                config.AGVConfigCollection.ForEach(plc =>
                {
                    _hash[plc.ID] = plc.Name;
                });
            }
        }
    }

    public class RobotDeviceConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                ProcessConfig config = scope.Resolve<ProcessConfig>();

                config.RobotConfigCollection.ForEach(robot =>
                {
                    _hash[robot.ID] = robot.Name;
                });
            }
        }
    }

    public class CameraDeviceConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                ProcessConfig config = scope.Resolve<ProcessConfig>();

                config.CameraConfigCollection.ForEach(camera =>
                {
                    _hash[camera.ID] = camera.Name;
                });
            }
        }
    }

    public class PLCDeviceConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                _hash[""] = "未指定";

                ProcessConfig config = scope.Resolve<ProcessConfig>();

                config.PLCConfigCollection.ForEach(plc =>
                {
                    _hash[plc.ID] = plc.Name;
                });
            }
        }
    }

    public class AllDeviceIdConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                _hash[""] = "未指定";

                List<IDevice> deviceList = scope.Resolve<List<IDevice>>();

                deviceList.ForEach(d =>
                {
                    _hash[d.Id] = d.Name;
                });
            }
        }
    }

    public class AllDeviceNameConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                _hash[""] = "未指定";

                List<IDevice> deviceList = scope.Resolve<List<IDevice>>();

                deviceList.ForEach(d =>
                {
                    _hash[d.Name] = d.Name;
                });
            }
        }
    }
}