using Bro.Common.Helper;
using Bro.Device.SeerAGV;
using System.Linq;
using System.Threading.Tasks;

namespace A032.Process
{
    public partial class ProcessControl
    {
        private async void OnAGVBatteryLvlChanged(SeerAGVDriver agv, float preBatteryLvl, float batteryLvl)
        {
            await Task.Run(() =>
            {
                var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
                SeerAGVInitialConfig iConfig = bind.AGV.InitialConfig as SeerAGVInitialConfig;

                if (bind.UnitState == AGVState.Idle)
                {
                    if (batteryLvl <= iConfig.BatteryLvlToCharge)
                    {
                        bind.CurrentTaskId = "InCharge";
                        bind.UnitState = AGVState.InCharge;

                        var chargePosition = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.Charge);

                        if (chargePosition == null)
                        {
                            string warningMsg = $"{bind.AGV.Name}目前无可用充电地址";
                            bind.WarningMsg.Add(warningMsg);
                            new ProcessException(warningMsg);
                            bind.UnitState = AGVState.Warning;
                        }
                        else
                        {
                            bind.AGV.TaskOrder(chargePosition.PositionCode, true);
                        }
                    }
                    else if (batteryLvl <= iConfig.BatteryLvlToCharge_Recommand)
                    {
                        ChargeWhenIdle(bind);
                    }
                }
                else if (bind.UnitState == AGVState.InCharge)
                {
                    if (batteryLvl >= iConfig.BatteryLvlChargeDone)
                    {
                        bind.UnitState = AGVState.Idle;
                    }
                    else if (batteryLvl >= iConfig.BatteryLvlToCharge_Recommand)
                    {
                        bind.UnitState = AGVState.IdleCharge;
                    }
                }
            });
        }

        private async void OnAGVTaskStatusChanged(SeerAGVDriver agv, AGVTaskStatus taskStatus)
        {
            await Task.Run(() =>
            {
                //如果成功到达充电地点，开始充电
                if (taskStatus == AGVTaskStatus.Completed && Config.PositionCollection.Any(u => u.Description == PathPositionDefinition.Charge && u.PositionCode == agv.CurrentPosition))
                {
                    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
                    if (bind != null)
                    {
                        //表示充电动作任务完成
                        bind.CurrentTaskId = "";
                    }
                }
            });
        }

        private async void OnAGVPositionChanged(SeerAGVDriver agv, string positionCode)
        {
            await Task.Run(() =>
            {

            });
        }

        private void ChargeWhenIdle(AGVBindUnit bind)
        {
            bind.CurrentTaskId = "IdleCharge";
            bind.UnitState = AGVState.IdleCharge;

            //设置为无需等待是为了方便执行过程中可以取消当前操作，执行任务
            var chargePosition = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.Charge);

            if (chargePosition != null)
            {
                bind.AGV.TaskOrder(chargePosition.PositionCode, true);
            }
            else
            {
                new ProcessException($"{bind.AGV.Name}未能获取充电地址");
            }
        }
    }
}