using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Common.Model.Interface;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
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.SeerAGV
{
    [Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.Device)]
    public class SeerAGVDriver : DeviceBase, IMonitor
    {
        public Action<SeerAGVDriver, string> OnAGVPositoinChanged;
        public Action<SeerAGVDriver, AGVTaskStatus> OnAGVTaskStatusChanged;
        public Action<SeerAGVDriver, float, float> OnAGVBatteryLvlChanged;
        public Action<SeerAGVDriver, IODefinition> OnAGVIOChanged;

        SeerAGVInitialConfig IConfig
        {
            get => InitialConfig as SeerAGVInitialConfig;
        }

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

        protected override void DeviceSet(IDeviceConfig config)
        {
        }

        protected override void Init()
        {
            InitialTcpClient(ref client_State, IConfig.StatusPort);
            InitialTcpClient(ref client_Guide, IConfig.GuidePort);

            StateHandle = new ManualResetEvent(false);
            PositionHandle = new ManualResetEvent(false);
            BatteryHandle = new ManualResetEvent(false);
            IOHandle = new ManualResetEvent(false);

            _taskDoneHandle = new ManualResetEvent(false);
            _monitorLock = new ManualResetEvent(true);
            _isTaskRunning = false;
        }

        private void InitialTcpClient(ref TcpClient client, int port)
        {
            if (client == null || !client.Connected)
            {
                client = new TcpClient();
                client.SendBufferSize = client.ReceiveBufferSize = 0;
                client.Client.Blocking = true;
                client.NoDelay = true;
                client.Connect(IPAddress.Parse(IConfig.AGVIP), port);
            }
        }

        protected override void Pause()
        {
        }

        protected override void Resume()
        {
        }

        protected override void Start()
        {
            msg_Position = new SeerMessage((int)AGVCode.QueryPosition, SID);
            msg_GuideStatus = new SeerMessage((int)AGVCode.QueryTaskStatus, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");
            msg_Battery = new SeerMessage((int)AGVCode.QueryBattery, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");
            msg_IO = new SeerMessage((int)AGVCode.QueryIO, SID);

            _taskDoneHandle.Reset();
            _monitorLock.Set();

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

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

        protected override void Stop()
        {
            StateHandle.Set();
            PositionHandle.Set();
            BatteryHandle.Set();
            IOHandle.Set();

            _taskDoneHandle.Set();
            _monitorLock.Set();

            if (client_Guide != null && client_Guide.Connected)
            {
                CancelTask();
                client_Guide.Close();
                client_Guide = null;
            }

            if (client_State != null && client_State.Connected)
            {
                client_State.Close();
                client_State = null;
            }
        }
        #endregion

        int sid = 1;
        int SID
        {
            get
            {
                if (sid > 65535)
                {
                    sid = 1;
                }

                return sid++;
            }
        }

        TcpClient client_State = new TcpClient();
        TcpClient client_Guide = new TcpClient();
        byte[] buffer = new byte[1024];

        string currentPosition = "";
        public string CurrentPosition
        {
            get => currentPosition;
            set
            {
                if (currentPosition != value)
                {
                    currentPosition = value;

                    if (!string.IsNullOrWhiteSpace(currentPosition))
                    {
                        OnAGVPositoinChanged?.Invoke(this, currentPosition);
                    }
                }
            }
        }

        List<AGVTaskStatus> _taskRunningStates = new List<AGVTaskStatus>() { AGVTaskStatus.Running, AGVTaskStatus.Waiting, AGVTaskStatus.Suspended };
        List<AGVTaskStatus> _taskDoneStates = new List<AGVTaskStatus>() { AGVTaskStatus.Cancelled, AGVTaskStatus.Completed, AGVTaskStatus.Failed };
        AGVTaskStatus taskStatus = AGVTaskStatus.None;
        public AGVTaskStatus TaskStatus
        {
            get => taskStatus;
            set
            {
                if (taskStatus != value)
                {
                    taskStatus = value;

                    if (taskStatus != AGVTaskStatus.None)
                    {
                        if (_isTaskRunning && _taskDoneStates.Contains(taskStatus))
                        {
                            _taskDoneHandle.Set();
                            _isTaskRunning = false;
                        }

                        OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
                    }
                }
            }
        }

        float batteryLvl = 0;
        public float BatteryLvl
        {
            get => batteryLvl;
            set
            {
                if (batteryLvl != value)
                {
                    float pre = batteryLvl;
                    batteryLvl = value;
                    OnAGVBatteryLvlChanged?.Invoke(this, pre, batteryLvl);
                }
            }
        }

        public string LastStation { get; set; }
        public string Destination { get; set; } = "";

        SeerMessage msg_Position = new SeerMessage();
        SeerMessage msg_GuideStatus = new SeerMessage();
        SeerMessage msg_Battery = new SeerMessage();
        SeerMessage msg_IO = new SeerMessage();

        public ManualResetEvent StateHandle { get; set; } = new ManualResetEvent(false);
        public ManualResetEvent PositionHandle { get; set; } = new ManualResetEvent(false);
        public ManualResetEvent BatteryHandle { get; set; } = new ManualResetEvent(false);
        public ManualResetEvent IOHandle { get; set; } = new ManualResetEvent(false);

        private void MonitorAGV()
        {
            while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
            {
                _monitorLock.WaitOne();
                try
                {
                    SendMsg(client_State, IConfig.StatusPort, msg_Position);
                    Thread.Sleep(IConfig.ScanInterval);
                    SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
                    Thread.Sleep(IConfig.ScanInterval);
                    SendMsg(client_State, IConfig.StatusPort, msg_Battery);
                    Thread.Sleep(IConfig.ScanInterval);
                    SendMsg(client_State, IConfig.StatusPort, msg_IO);
                    Thread.Sleep(IConfig.ScanInterval);
                }
                catch (Exception ex)
                {
                    LogAsync(DateTime.Now, "监听异常", ex.GetExceptionMessage());
                }
            }
        }

        private void SendMsg(TcpClient client, int port, SeerMessage msg)
        {
            int repeatTime = 5;

            do
            {
                try
                {
                    InitialTcpClient(ref client, port);

                    var stream = client.GetStream();
                    stream.Write(msg.Frame, 0, msg.Frame.Length);
                    stream.Flush();
                    int recSize = stream.Read(buffer, 0, buffer.Length);
                    if (recSize > 0)
                    {
                        byte[] rec = buffer.Take(recSize).ToArray();
                        SeerMessage recMsg = SeerMessage.GetSeerMessage(rec);
                        if (recMsg.TypeCode != (10000 + msg.TypeCode) || recMsg.SeqNum != msg.SeqNum)
                        {
                            throw new ProcessException("反馈信息和发送信息不一致");
                        }

                        if (recMsg.JValues.ContainsKey("ret_code"))
                        {
                            int retCode = recMsg.JValues.Value<int>("ret_code");
                            if (retCode != 0)
                            {
                                throw new ProcessException($"反馈信息异常,异常码:{retCode}");
                            }
                        }

                        AnalyzeSeerMsg(recMsg);
                    }

                    repeatTime = 0;
                }
                catch (SocketException ex)
                {
                    repeatTime--;
                    new ProcessException("AGV网络通信异常", ExceptionLevel.Warning, ex);

                    if (repeatTime <= 0)
                    {
                        throw new ProcessException("AGV网络通信失败", ExceptionLevel.Warning, ex);
                    }

                    Thread.Sleep(IConfig.ScanInterval);
                }
                catch (Exception ex)
                {
                    throw new ProcessException("AGV信息发送异常", ExceptionLevel.Warning, ex);
                }

            } while (repeatTime > 0);
        }

        private async void AnalyzeSeerMsg(SeerMessage recMsg)
        {
            await Task.Run(() =>
            {
                switch (recMsg.TypeCode - 10000)
                {
                    case (int)AGVCode.QueryPosition:
                        CurrentPosition = recMsg.JValues.Value<string>("current_station");
                        LastStation = recMsg.JValues.Value<string>("last_station");

                        PositionHandle.Set();
                        break;
                    case (int)AGVCode.QueryTaskStatus:
                        TaskStatus = (AGVTaskStatus)recMsg.JValues.Value<int>("task_status");

                        StateHandle.Set();
                        break;
                    case (int)AGVCode.QueryBattery:
                        BatteryLvl = recMsg.JValues.Value<float>("battery_level");

                        BatteryHandle.Set();
                        break;
                    case (int)AGVCode.QueryIO:
                        //recMsg.JValues.Value<JArray>("DI").ToList().ForEach(j =>
                        //{
                        //    var ioDefinition = IConfig.IOCollection.FirstOrDefault(i => i.IOIndex == j.Value<int>("id"));

                        //    if (ioDefinition != null && j.Value<bool>("status") != ioDefinition.CurrentValue)
                        //    {
                        //        ioDefinition.CurrentValue = j.Value<bool>("status");
                        //        OnAGVIOChanged?.Invoke(this, ioDefinition);
                        //    }
                        //});

                        //高电平 1  低电平 0
                        _ioDict = recMsg.JValues.Value<JArray>("DI").ToDictionary(u => u.Value<int>("id"), u => u.Value<bool>("status") ? 1 : 0);
                        IOHandle.Set();
                        break;
                    default:
                        break;
                }
            });
        }

        public void CancelTask()
        {
            SeerMessage msg = new SeerMessage((int)AGVCode.CancelTask, SID);
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }

        public void PauseTask()
        {
            SeerMessage msg = new SeerMessage((int)AGVCode.PauseTask, SID);
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }

        ManualResetEvent _taskDoneHandle = new ManualResetEvent(false);
        ManualResetEvent _monitorLock = new ManualResetEvent(true);
        bool _isTaskRunning = false;
        public void TaskOrder(string dest, bool isWaitFinished)
        {
            _monitorLock.Reset();
            Thread.Sleep(IConfig.ScanInterval);

            CurrentPosition = "";
            Destination = dest;
            TaskStatus = AGVTaskStatus.None;

            SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));
            //OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}行驶向 {dest}", null, null);
            LogAsync(DateTime.Now, "", $"{Name}行驶向 {dest}");

            SendMsg(client_Guide, IConfig.GuidePort, msg);
            //Thread.Sleep(IConfig.ScanInterval);
            _monitorLock.Set();

            if (isWaitFinished)
            {
                _isTaskRunning = true;
                _taskDoneHandle.Reset();
                bool isNotTimeout = _taskDoneHandle.WaitOne((int)(IConfig.OperationTimeout * 60 * 1000));
                if (!isNotTimeout)
                {
                    throw new ProcessException($"{Name}执行去往{dest}动作超时");
                }

                if (TaskStatus == AGVTaskStatus.Failed)
                {
                    throw new ProcessException($"{Name}执行去往{dest}动作失败");
                }
                else if (TaskStatus == AGVTaskStatus.Cancelled)
                {
                    //OnLog?.Invoke(DateTime.Now, this, $"{Name}执行去往{dest}动作取消");
                    LogAsync(DateTime.Now, "", $"{Name}执行去往{dest}动作取消");
                }
            }
        }

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

        Dictionary<int, int> _ioDict = new Dictionary<int, int>();
        public void Monitor()
        {
            while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
            {
                try
                {
                    IOHandle.Reset();

                    var isNotTimeout = IOHandle.WaitOne(IConfig.ScanInterval * 3);

                    if (!isNotTimeout)
                        throw new ProcessException($"{Name}监听超时");

                    IConfig.MonitorSetCollection.ForEach(m =>
                    {
                        if (_ioDict.ContainsKey(m.TriggerIndex))
                        {
                            if ((m.TriggerValue == _ioDict[m.TriggerIndex] || m.TriggerIndex == -999) && _ioDict[m.TriggerIndex] != m.CurrentValue)
                            {
                                if (m.OpConfig == null)
                                {
                                    m.OpConfig = new OperationConfigBase();
                                }

                                m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
                                {
                                    if (_ioDict.ContainsKey(index))
                                    {
                                        return _ioDict[index];
                                    }
                                    else
                                    {
                                        return -1;
                                    }
                                }).ToList();

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

                            m.CurrentValue = _ioDict[m.TriggerIndex];
                        }
                    });
                }
                catch (Exception ex)
                {
                    OnLog?.Invoke(DateTime.Now, this, $"{Name}监听异常:{ex.GetExceptionMessage()}");
                }
            }
        }

        public virtual void ResetAlarm()
        {
            IConfig.WarningSetCollection.ForEach(u => u.CurrentStatus = !u.TriggerValue);
        }
        #endregion
    }
}