using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Common.Model.Interface;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Threading;
using System.Threading.Tasks;

namespace Bro.Device.AuboRobot
{
    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.Device)]
    public class AuboRobotDriver : DeviceBase, IMonitor
    {
        public Action<DateTime, AuboRobotDriver, RobotMsg> OnMsgReceived { get; set; }

        AuboRobotInitialConfig IConfig
        {
            get => InitialConfig as AuboRobotInitialConfig;
        }

        #region DeviceBase
        protected override void DeviceRun(IOperationConfig config)
        {
        }

        protected override void DeviceSet(IDeviceConfig config)
        {
        }

        protected override void Init()
        {
            if (string.IsNullOrWhiteSpace(IConfig.EndChar))
            {
                throw new ProcessException("协议文本的结束字符不可为空，请检查配置", null);
            }

            client = new TcpClient();
            client.SendBufferSize = client.ReceiveBufferSize = 0;
            client.Client.Blocking = true;
            client.NoDelay = true;
            client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
        }

        protected override void Pause()
        {
        }

        protected override void Resume()
        {
        }

        RobotMsg scanMsg = new RobotMsg();
        protected override void Start()
        {
            //Query Robot IOs
            //SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());

            scanMsg = new RobotMsg();
            scanMsg.Action = RobotMsgAction.IO;
            scanMsg.Para1 = RobotMsgParas.Query;

            Task.Run(() =>
            {
                Monitor();
            });
        }

        protected override void Stop()
        {
            client.Close();
        }
        #endregion

        TcpClient client = new TcpClient();
        byte[] buffer = new byte[1024];

        private void OnConnect(IAsyncResult ar)
        {
            try
            {
                client.EndConnect(ar);
                client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
            }
            catch (Exception ex)
            {
                OnLog?.Invoke(DateTime.Now, this, ex.GetExceptionMessage());

                client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
            }
        }

        private void OnDateReceived(IAsyncResult ar)
        {
            int dataLength = client.GetStream().EndRead(ar);

            if (dataLength > 0)
            {
                byte[] data = buffer.Take(dataLength).ToArray();

                string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
                AnalyzeData(dataStr);

                client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
            }
            else
            {
                if (!client.Connected)
                {
                    OnLog?.Invoke(DateTime.Now, this, "返回空数据，连接中断");
                    client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
                }
            }
        }

        string msg = "";
        static object analyzeLock = new object();
        private async void AnalyzeData(string data)
        {
            await Task.Run(() =>
            {
                lock (analyzeLock)
                {
                    msg += data;

                    var datas = msg.Split(new string[] { IConfig.EndChar }, StringSplitOptions.RemoveEmptyEntries);

                    if (msg.EndsWith(IConfig.EndChar))
                    {
                        msg = "";
                    }
                    else
                    {
                        msg = datas[datas.Length - 1];
                        datas = datas.Take(datas.Length - 1).ToArray();
                    }

                    AnalyzeDataList(datas);
                }
            });
        }

        private async void AnalyzeDataList(string[] datas)
        {
            await Task.Run(() =>
            {
                Array.ForEach(datas, data =>
                 {
                     RobotMsg msg = RobotMsg.GetRobotMsg(data, IConfig.Seperator);

                     if (msg.Type == RobotMsgType.Rec)
                     {
                         if (replyHandleDict.ContainsKey(msg.ID))
                         {
                             replyHandleList.Remove(msg.ID);

                             replyHandleDict[msg.ID].Set();
                             replyHandleDict.Remove(msg.ID);
                         }
                     }
                     else
                     {
                         canMonitor = true;

                         if (msg.Action == RobotMsgAction.IO && msg.Para1 == RobotMsgParas.Query)
                         {
                             string resultStr = msg.Datas[0];
                             newValues = new List<int>();

                             for (int i = resultStr.Length - 1; i >= 0; i--)
                             {
                                 newValues.Add(resultStr[i]);
                             }

                             monitorHandle.Set();
                         }
                         else
                         {
                             OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
                         }
                     }
                 });
            });
        }

        int sid = 1;
        int SID
        {
            get
            {
                if (sid > 99)
                {
                    sid = 1;
                }

                return sid++;
            }
        }

        List<int> replyHandleList = new List<int>();
        Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();

        public void SendMsg(RobotMsgAction action, RobotMsgParas para1, int para2, List<float> paras = null)
        {
            RobotMsg msg = new RobotMsg();
            msg.Type = RobotMsgType.Send;
            msg.ID = SID;

            msg.Action = action;
            msg.Para1 = para1;
            msg.Para2 = para2;

            msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));

            SendMsg(msg, true);
        }

        public void SendReplyMsg(int replyId)
        {
            RobotMsg msg = new RobotMsg();

            msg.Type = RobotMsgType.Rec;
            msg.ID = replyId;

            SendMsg(msg, false);
        }

        bool canMonitor = true;
        public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
        {
            if (isWaitReply)
            {
                replyHandleList.Add(msg.ID);
                replyHandleDict[msg.ID] = new AutoResetEvent(false);
            }

            byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);

            if (!isMonitorMsg)
            {
                canMonitor = false;
            }

            if (isMonitorMsg && !canMonitor)
                return;

            lock (this)
            {
                client.GetStream().Write(bytes, 0, bytes.Length);
                if (isWaitReply)
                {
                    replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);

                    if (replyHandleList.Contains(msg.ID))
                    {
                        throw new ProcessException("反馈数据超时\r\n" + msg.GetDisplayText(), null);
                    }
                }
            }
        }

        #region IMonitor
        public event OnMonitorInvokeDelegate OnMonitorInvoke;
        public event OnMonitorAlarmDelegate OnMonitorAlarm;

        protected List<int> oldValues = new List<int>();
        List<int> newValues = new List<int>();
        AutoResetEvent monitorHandle = new AutoResetEvent(false);
        public List<int> GetMonitorValues(int startAddress, int length)
        {
            SendMsg(scanMsg, true, true);
            monitorHandle.WaitOne();

            return newValues;
        }

        public virtual void Monitor()
        {
            while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
            {
                try
                {
                    List<int> newValues = GetMonitorValues(0, 0);

                    if (newValues == null || newValues.Count == 0)
                        continue;

                    if (oldValues.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(oldValues);
                        MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    oldValues = new List<int>(newValues);

                    Thread.Sleep(IConfig.ScanInterval);
                }
                catch (Exception ex)
                {
                    OnLog?.Invoke(DateTime.Now, this, $"{Name}监听异常:{ex.GetExceptionMessage()}");
                }
            }
        }

        protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
        {
            IConfig.MonitorSetCollection.ForEach(m =>
            {
                int newValue = tempNew[m.TriggerIndex];
                int oldValue = tempOld[m.TriggerIndex];

                if (newValue != oldValue)
                {
                    if (m.TriggerValue == -999 || newValue == m.TriggerValue)
                    {
                        if (m.OpConfig == null)
                        {
                            m.OpConfig = new OperationConfigBase();
                        }

                        m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
                        {
                            return tempNew[index];
                        }).ToList();

                        OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
                    }
                }
            });
        }
        #endregion
    }
}