using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Model.Helper;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Net;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace Bro.Device.SeerAGV
{
    [Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.InitialConfig)]
    public class SeerAGVInitialConfig : InitialConfigBase
    {
        [Category("通信配置")]
        [Description("AGVIP地址")]
        public string AGVIP { get; set; } = "0.0.0.0";

        [Category("通信配置")]
        [Description("状态端口")]
        public int StatusPort { get; set; } = 19204;

        [Category("通信配置")]
        [Description("导航端口")]
        public int GuidePort { get; set; } = 19206;

        [Category("监听配置")]
        [Description("监听间隔，单位ms")]
        public int ScanInterval { get; set; } = 200;

        [Category("监听配置")]
        [Description("是否采用简单监听模式。true：简单模式，只获取任务状态；false：全部模式，获取任务所有信息")]
        public bool IsSimpleMonitor { get; set; } = true;
    }

    [Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class SeerAGVOperationConfig : OperationConfigBase
    {

    }

    public class SeerMessage
    {
        private byte[] frame = null;
        public byte[] Frame
        {
            get
            {
                if (frame == null)
                {
                    frame = GetFrame();
                }

                return frame;
            }
            set => frame = value;
        }

        public int SyncHead { get; set; } = 0x5A;
        public int Version { get; set; }
        public int SeqNum { get; set; }
        public int DataLength { get; set; }
        public int TypeCode { get; set; }
        public byte[] JsonData { get; set; } = new byte[0];

        public JObject JValues { get; set; } = null;

        public SeerMessage() { }

        public SeerMessage(int typeCode, int seqNum, string jsonData = "")
        {
            TypeCode = typeCode;
            SeqNum = seqNum;

            if (!string.IsNullOrWhiteSpace(jsonData))
            {
                JsonData = System.Text.Encoding.ASCII.GetBytes(jsonData);
            }

            DataLength = JsonData.Length;
        }

        public byte[] GetFrame()
        {
            List<byte> list = new List<byte>();

            list.Add((byte)SyncHead);
            list.Add((byte)Version);
            list.AddRange(SeqNum.IntToBytes());
            list.AddRange(DataLength.IntToBytes(4));
            list.AddRange(TypeCode.IntToBytes());
            list.AddRange(new byte[] { 0, 0, 0, 0, 0, 0 });
            list.AddRange(JsonData);

            return list.ToArray();
        }

        public static SeerMessage GetSeerMessage(byte[] data)
        {
            SeerMessage msg = new SeerMessage();
            msg.Frame = data;

            msg.SeqNum = data.Skip(2).Take(2).ToArray().BytesToInt();
            msg.DataLength = data.Skip(4).Take(4).ToArray().BytesToInt();
            msg.TypeCode = data.Skip(8).Take(2).ToArray().BytesToInt();

            if (data.Length < 16 + msg.DataLength)
            {
                throw new ProcessException("数据长度错误", null);
            }

            msg.JsonData = data.Skip(16).Take(msg.DataLength).ToArray();
            msg.JValues = JsonConvert.DeserializeObject<JObject>(System.Text.Encoding.ASCII.GetString(msg.JsonData));

            return msg;
        }
    }

    //public enum RobotPort
    //{
    //    StatusPort = 19204,
    //    ControlPort = 19205,
    //    GuidePort = 19206,
    //    SettingPort = 19207,
    //    OtherPort = 19210
    //}

    public enum AGVCode
    {
        QueryPosition = 0x03EC,
        QueryTaskStatus = 0x03FC,

        CancelTask = 0x0BBB,
        TaskOrder = 0x0BEB,
    }

    public enum AGVTaskStatus
    {
        None = 0,
        Waiting = 1,
        Running = 2,
        Suspended = 3,
        Completed = 4,
        Failed = 5,
        Cancelled = 6,
    }
}