using Bro.Common.Base;
using Bro.Common.Helper;
using System;
using System.Collections.Generic;
using System.ComponentModel;

namespace Bro.Device.AuboRobot
{
    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.InitialConfig)]
    public class AuboRobotInitialConfig : InitialConfigBase
    {
        [Category("机器人设置")]
        [Description("机器人通信IP")]
        public string RobotIP { get; set; } = "0.0.0.0";

        [Category("机器人设置")]
        [Description("机器人通信端口")]
        public int RobotPort { get; set; }

        [Category("通信设置")]
        [Description("反馈超时设置，单位ms")]
        public int ReplyTimeout { get; set; } = 1000;

        [Category("通信设置")]
        [Description("协议文本结束字符")]
        public string EndChar { get; set; } = "#";

        [Category("通信设置")]
        [Description("协议内容分隔字符")]
        public string Seperator { get; set; } = ",";
    }

    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class AuboRobotOperationConfig : OperationConfigBase
    {
    }

    public class RobotMsg : IComplexDisplay
    {
        public RobotMsgType Type { get; set; } = RobotMsgType.Send;

        public int ID { get; set; }

        public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;

        public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;

        public List<string> Paras { get; set; } = new List<string>();

        public byte[] GetMsgBytes(string seperator, string endChar)
        {
            List<string> list = new List<string>() { Type.ToString(), ID.ToString() };

            if (Type == RobotMsgType.Send)
            {
                list.Add(Action.ToString());

                if (Para1 != RobotMsgParas.None)
                {
                    list.Add(Para1.ToString());
                }

                list.AddRange(Paras);
            }

            string msg = string.Join(seperator, list);

            return System.Text.Encoding.ASCII.GetBytes(msg + endChar);
        }

        public static RobotMsg GetRobotMsg(string data, string seperator)
        {
            string[] datas = data.Split(new string[] { seperator }, System.StringSplitOptions.RemoveEmptyEntries);

            RobotMsg msg = new RobotMsg();

            msg.Type = (RobotMsgType)Enum.Parse(typeof(RobotMsgType), datas[0]);
            msg.ID = int.Parse(datas[1]);

            if (msg.Type == RobotMsgType.Send)
            {
                msg.Action = (RobotMsgAction)Enum.Parse(typeof(RobotMsgAction), datas[2]);

                if (int.TryParse(datas[3], out int para1))
                {
                    msg.Para1 = RobotMsgParas.None;

                    for (int i = 3; i < datas.Length; i++)
                    {
                        msg.Paras.Add(datas[i]);
                    }
                }
                else
                {
                    msg.Para1 = (RobotMsgParas)Enum.Parse(typeof(RobotMsgParas), datas[3]);

                    for (int i = 4; i < datas.Length; i++)
                    {
                        msg.Paras.Add(datas[i]);
                    }
                }
            }

            return msg;
        }

        public string GetDisplayText()
        {
            string msg = $"序号：{ID},{Action.ToString()}_{Para1.ToString()}{(Paras.Count > 0 ? ("_" + string.Join(",", Paras)) : "")}";
            return msg;
        }
    }

    public enum RobotMsgType
    {
        Send,
        Rec
    }

    public enum RobotMsgAction
    {
        Move,
        State,
        Adjust,
        IO,
    }

    public enum RobotMsgParas
    {
        None,
        LineSnap,
        Line,
        Robot,
        LoadEmptyTraySnap,
        LoadEmptyTrayDone,
        LoadFullTraySnap,
        LoadFullTrayDone,
        EmptyTrayReady,
        EmptyTrayEmpty,
        FullTrayFull,
        Query,
    }
}