using HanHe.Message;
using HH.WCS.Hexafluo.core;
using HH.WCS.Hexafluo.process;
using HH.WCS.Hexafluo.util;
using HH.WCS.Hexafluo.wms;
using HH.WCS.SJML.api;
using HH.WCS.SJML.Bll;
using HH.WCS.SJML.dispatch;
using HH.WCS.SJML.Dto;
using HH.WCS.SJML.Entitys;
using HH.WCS.SJML.util;
using HH.WCS.ZCQTJ.Entitys;
using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Web.Http;
using static HH.WCS.SJML.api.ApiModel;

namespace HH.WCS.Hexafluo.api
{
    /// <summary>
    /// hosttoagv上报
    /// </summary>
    //[RoutePrefix("agv")]
    public class AgvController : System.Web.Http.ApiController
    {
        private static object locko1 = new object();

        /// <summary>
        /// hosttoagv上报
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        //[Route("AGVCallbackState")]
        public ReturnResult AGVCallbackState(AgvTaskState model)
        {
            LogHelper.Info("HosttoagvTask", "AGVCallbackState Request：" + JsonConvert.SerializeObject(model));
            var logPara = LogType.LogPara("完工回报");
            LogHelper.TaskDetail(logPara, "agv完工回报参数：" + JsonConvert.SerializeObject(model));
            Task.Run(() =>
            {
                var chi = new SqlHelper<object>().GetInstance();
                var newDb = chi.CopyNew();
                try
                {
                    var transportTask = newDb.Queryable<WMSTask>().Where(e => e.S_TASK_NO == model.No)?.First();
                    if (transportTask == null)
                    {
                        LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                        throw new Exception("未查询到该任务");
                    }
                    if (transportTask.S_B_STATE == "取消" || transportTask.S_B_STATE == "完成")
                    {
                        LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                        return new ReturnResult();
                    }
                    if ((model.State == 3 && model.ForkliftNo != "0") || (string.IsNullOrEmpty(transportTask.S_EQ_NO) && model.ForkliftNo != "0"))
                    {
                        TaskHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData, transportTask, model.ForkliftNo);
                    }
                    else
                    {
                        TaskHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData, transportTask);
                    }
                    if (model.State <= 7)
                    {
                        var SataeLis = TaskCore.SataeList[model.State];
                        if (SataeLis == "完成")
                        {
                            //AGV异步完成
                            deadlockRollEntitys Deck = new deadlockRollEntitys();
                            Deck.S_INTER_STATE = "22";
                            Deck.S_VALUE_JSON = model.No;
                            try
                            {
                                newDb.BeginTran();

                                var I = newDb.Insertable(Deck).ExecuteCommand();
                                if (I == 0)
                                {
                                    newDb.RollbackTran();
                                }
                                newDb.CommitTran();
                            }
                            catch (Exception ex)
                            {

                                newDb.RollbackTran();
                            }
                            LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                            return new ReturnResult();
                        }

                        if (SataeLis == "取消")
                        {
                            //AGV异步取消
                            deadlockRollEntitys Deck = new deadlockRollEntitys();
                            Deck.S_INTER_STATE = "7";
                            Deck.S_VALUE_JSON = model.No;
                            try
                            {
                                newDb.BeginTran();

                                var I = newDb.Insertable(Deck).ExecuteCommand();
                                if (I == 0)
                                {
                                    newDb.RollbackTran();
                                }
                                newDb.CommitTran();
                            }
                            catch (Exception ex)
                            {

                                newDb.RollbackTran();
                            }
                            LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                            return new ReturnResult();
                        }
                        var ta = BLLCreator.Create<StateTaskBLL>().ExecuteState(model.No, SataeLis, logPara, transportTask);
                        LogHelper.TaskDetail(logPara, $"完工回报返回：任务号为:{model.No}" + JsonConvert.SerializeObject(ta));
                        TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData, transportTask);
                        if (transportTask.S_NOTE.Equals("agv任务") && model.State == 7 && ta.Success)
                        {
                            if (transportTask.S_TASK_NO.IndexOf('_') > 0 && transportTask.S_TYPE == "入库")
                            {

                                BLLCreator.Create<WmsController>().AgvStateWcsIn(transportTask, logPara);
                            }
                            else if (transportTask.S_TASK_NO.IndexOf('_') > 0 && transportTask.S_TYPE == "出库")
                            {
                                var tac = newDb.Queryable<WmsTaskAction>().Where(a => a.S_TASK_NO == transportTask.S_TASK_NO && a.S_ACTION_CODE == "1101")?.First();
                                if (tac != null)
                                {
                                    LogHelper.TaskDetail(logPara, "完工回报 调用安全请求取消：");
                                    var Wcs = BLLCreator.Create<WcsTask>().WcsCallback(transportTask, 7, transportTask.S_EQ_NO);
                                }
                            }
                        }
                    }
                    else
                    {
                        TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData, transportTask);
                    }
                    LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                    return new ReturnResult();
                }
                catch (Exception ex)
                {
                    LogHelper.TaskDetail(logPara, "完工回报报错：" + JsonConvert.SerializeObject(ex));
                    LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
                    return new ReturnResult();
                }
            });
            LogHelper.TaskDetail(logPara, $"完工回报 任务号{model.No} 返回给AGV信息{JsonConvert.SerializeObject(new ReturnResult())}");
            return new ReturnResult();
        }


        [HttpPost]
        //[Route("AGVCallbackEvent")]
        public ReturnResult AGVCallbackEvent(AgvEventInfo model)
        {
            LogHelper.Info("HosttoagvTask", "AGVCallbackEvent Request：" + JsonConvert.SerializeObject(model));
            return new ReturnResult();
        }

        /// <summary>
        /// 车体错误缓存
        /// </summary>
        public static Dictionary<string, AgvDeviceStatus> percentage = new Dictionary<string, AgvDeviceStatus>();
        /// <summary>
        /// 车体错误
        /// </summary>
        /// <param name="models"></param>十进制转二进制 小车发十进制  错误文档则是16进制
        /// <returns></returns>
        [HttpPost]
        //[Route("AGVDeviceReceive")]
        public ReturnResult AGVDeviceReceive(List<AgvDeviceStatus> models)
        {
            //   LogHelper.Info("HosttoagvCar", "AGVDeviceReceive Request：" + JsonConvert.SerializeObject(models));
            var chi = new SqlHelper<object>().GetInstance();
            var newDb = chi.CopyNew();
            Task.Run(() =>
            {
                try
                {
                    var Alone = newDb.Queryable<S_AGV_TYPEEntitys>().Where(e => e.S_IS_OPEN == "Y").ToList();
                    List<S_AGV_CONDITIONEntitys> Conditions = new List<S_AGV_CONDITIONEntitys>();

                    foreach (var item in models)
                    {
                        if (item.errCode != "0" || item.errCode2 != "0" || item.faildCode != "0")
                        {
                            LogHelper.DanInfo("HosttoagvCar", $"errCode: {item.errCode} errCode2: {item.errCode2}");
                            //1:    //if (percentage.ContainsKey(item.forkliftNo))
                            //{
                            //    var Model = percentage[item.forkliftNo];
                            //    double differenceInMinutes = (Model.Operattime - item.Operattime).TotalMinutes;
                            //    if (differenceInMinutes > 5)
                            //    {
                            //        LogHelper.DanInfo("HosttoagvCar", $" 车体错误缓存 {JsonConvert.SerializeObject(Model)}");
                            //        if (Model.errCode != item.errCode || Model.errCode2 != item.errCode2 || Model.faildCode != item.faildCode)
                            //        {
                            //            if (Model.errCode != item.errCode && item.errCode != "0")
                            //            {
                            //                if (differenceInMinutes > 5)
                            //                {
                            //                    AgvCa(item, item.errCode, Alone, "1");
                            //                }
                            //            }
                            //            if (Model.errCode2 != item.errCode2 && item.errCode2 != "0")
                            //            {
                            //                if (differenceInMinutes > 5)
                            //                {
                            //                    AgvCa(item, item.errCode2, Alone, "2");
                            //                }
                            //            }
                            //            if (Model.faildCode != item.faildCode && item.faildCode != "0")
                            //            {
                            //                if (differenceInMinutes > 5)
                            //                {
                            //                    AgvCa(item, item.faildCode, Alone, "3");
                            //                }
                            //            }
                            //            if (differenceInMinutes > 5)
                            //            {
                            //                percentage[item.forkliftNo] = item;
                            //            }
                            //        }
                            //    }
                            //}
                            //else
                            //{
                            //    percentage.Add(item.forkliftNo, item);
                            //    if (item.errCode != "0")
                            //    {
                            //        AgvCa(item, item.errCode, Alone, "1");
                            //    }
                            //    if (item.errCode2 != "0")
                            //    {
                            //        AgvCa(item, item.errCode2, Alone, "2");
                            //    }
                            //    if (item.faildCode != "0")
                            //    {
                            //        AgvCa(item, item.faildCode, Alone, "3");
                            //    }

                            //}

                            // 2:   //if (item.errCode != "0")
                            //{
                            //    AgvCa(item, item.errCode, Alone, "1");
                            //}
                            //if (item.errCode2 != "0")
                            //{
                            //    AgvCa(item, item.errCode2, Alone, "2");
                            //}
                            //if (item.faildCode != "0")
                            //{
                            //    AgvCa(item, item.faildCode, Alone, "3");
                            //}

                            //3:
                            if (percentage.ContainsKey(item.forkliftNo))
                            {
                                var ggh = percentage[item.forkliftNo];
                                if (ggh.errCode != item.errCode || ggh.errCode2 != item.errCode2 || ggh.faildCode != item.faildCode)
                                {
                                    var Model = percentage[item.forkliftNo];
                                    LogHelper.DanInfo("HosttoagvCar", $" 车体错误缓存 {JsonConvert.SerializeObject(Model)}");
                                    if (item.errCode != "0" && ggh.errCode != item.errCode)
                                    {
                                        AgvCa(item, item.errCode, Alone, "1");
                                    }
                                    if (item.errCode2 != "0" && ggh.errCode2 != item.errCode2)
                                    {
                                        AgvCa(item, item.errCode2, Alone, "2");
                                    }
                                    if (item.faildCode != "0" && ggh.faildCode != item.faildCode)
                                    {
                                        AgvCa(item, item.faildCode, Alone, "3");
                                    }
                                }
                                percentage[item.forkliftNo] = item;
                            }
                            else
                            {
                                percentage.Add(item.forkliftNo, item);
                                if (item.errCode != "0")
                                {
                                    AgvCa(item, item.errCode, Alone, "1");
                                }
                                if (item.errCode2 != "0")
                                {
                                    AgvCa(item, item.errCode2, Alone, "2");
                                }
                                if (item.faildCode != "0")
                                {
                                    AgvCa(item, item.faildCode, Alone, "3");
                                }
                            }
                        }
                        else
                        {
                            if (percentage.ContainsKey(item.forkliftNo))
                            {
                                percentage[item.forkliftNo] = item;
                            }
                            else
                            {
                                percentage.Add(item.forkliftNo, item);
                            }
                        }
                        S_AGV_CONDITIONEntitys cond = new S_AGV_CONDITIONEntitys();
                        //车号
                        cond.forkliftNo = item.forkliftNo;
                        //电池 
                        string[] battery = item.battery.Split(',');
                        cond.Battery_Soc = battery[0];
                        cond.Battery_V = battery[1];
                        cond.Battery_Amp = battery[2];
                        cond.Battery_Temp = battery[3];
                        cond.Battery_Prop = battery[4];
                        //里程
                        string[] mileage = item.mileage.Split(',');
                        cond.Mileage_Km = mileage[0];
                        cond.Mileage_m = mileage[1];
                        //电机信息
                        string[] motor = item.motor.Split(',');
                        cond.Motor_Amp = motor[0];
                        cond.Motor_Temp = motor[1];
                        cond.Motor_Y_Amp = motor[2];
                        cond.Motor_Y_Temp = motor[3];
                        //交通管制信息
                        string[] traffic = item.traffic.Split(',');
                        cond.Traffic_Pt = traffic[0];
                        cond.Traffic_Sec = traffic[1];
                        cond.Traffic_Wire = traffic[2];
                        cond.Traffic_Unit = traffic[3];
                        cond.Traffic_Io = traffic[4];
                        //开机时间
                        string[] time = item.time.Split(',');
                        cond.Time_D = time[0];
                        cond.time_H = time[1];
                        //举升次数
                        string[] lifts = item.lifts.Split(',');
                        cond.Lifts_Kc = lifts[0];
                        cond.Lifts_c = lifts[1];
                        //其他信息
                        string[] pos = item.pos.Split(',');
                        cond.Pos_X = pos[0];
                        cond.Pos_Y = pos[1];
                        cond.Pos_Z = pos[2];
                        //转向角度
                        cond.Angle_Deg = item.angle;
                        switch (item.agvstate)
                        {
                            case "0":
                                cond.Agvstate_s = "空闲";
                                break;
                            case "1":
                                cond.Agvstate_s = "行动中";
                                break;
                            case "2":
                                cond.Agvstate_s = "充电机中";
                                break;
                        }
                        // cond.Agvstate_s = item.agvstate;
                        Conditions.Add(cond);
                    }
                    //车体信息插入
                    UpdateAgvState(Conditions);
                }
                catch (Exception ex)
                {
                    LogHelper.DanInfo("HosttoagvCar", "AGVDeviceReceive 报错：" + ex.Message);
                }
            });
            return new ReturnResult();
        }
        /// <summary>
        /// 车体信息插入数据库
        /// </summary>
        /// <param name="Conds"></param>
        /// <returns></returns>
        public OperateResult UpdateAgvState(List<S_AGV_CONDITIONEntitys> Conds)
        {
            var chi = new SqlHelper<object>().GetInstance();
            var newDb = chi.CopyNew();
            try
            {
                //先查 在修改 当查询不到时添加数据
                var agv = newDb.Queryable<S_AGV_CONDITIONEntitys>().Where(e => Conds.Select(c => c.forkliftNo).ToList().Contains(e.forkliftNo)).ToList();
                newDb.BeginTran();
                //修改
                foreach (var item in Conds)
                {
                    var Up = agv.Find(e => e.forkliftNo == item.forkliftNo);
                    if (Up != null)
                    {
                        var ffd = newDb.Updateable(item).UpdateColumns(it => new
                        {
                            it.Battery_Soc,
                            it.Battery_V,
                            it.Battery_Amp,
                            it.Battery_Temp,
                            it.Battery_Prop,
                            it.Motor_Amp,
                            it.Motor_Temp,
                            it.Motor_Y_Amp,
                            it.Motor_Y_Temp,
                            it.Traffic_Pt,
                            it.Traffic_Sec,
                            it.Traffic_Wire,
                            it.Traffic_Unit,
                            it.Traffic_Io,
                            it.Time_D,
                            it.time_H,
                            it.Mileage_Km,
                            it.Mileage_m,
                            it.Lifts_Kc,
                            it.Lifts_c,
                            it.Pos_X,
                            it.Pos_Y,
                            it.Pos_Z,
                            it.Angle_Deg,
                            it.Agvstate_s
                        }).Where(a => a.forkliftNo == item.forkliftNo).ExecuteCommand();
                    }
                    else
                    {
                        newDb.Insertable(item).ExecuteCommand();
                    }
                }
                newDb.CommitTran();
                return OperateResult.Succeed();
            }
            catch (Exception ex)
            {
                newDb.RollbackTran();
                LogHelper.DanInfo("HosttoagvCar", "UpdateAgvState 报错：" + ex.Message);
                return OperateResult.Error(ex.Message);
            }
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="item"></param>
        /// <param name="reeCode"></param>
        /// <param name="Alone"></param>
        public void AgvCa(AgvDeviceStatus item, string reeCode, List<S_AGV_TYPEEntitys> Alone, string ii)
        {
            try
            {
                var chi = new SqlHelper<object>().GetInstance();
                var newDb = chi.CopyNew();
                var transportTask = newDb.Queryable<WMSTask>().Where(e => e.S_B_STATE != "取消" && e.S_B_STATE != "完成" && e.S_NOTE == "agv任务" && e.S_EQ_NO == item.forkliftNo)?.First();
                List<AgvErrorReportEntitys> AgbError = new List<AgvErrorReportEntitys>();
                string MistakeNumber = Convert.ToString(int.Parse(reeCode), 2);//小车错误二进制
                LogHelper.DanInfo("HosttoagvCar", $" 小车错误二进制 {MistakeNumber}");
                int[] MistakeArray = new int[MistakeNumber.Length]; // 创建一个长度等于二进制数位数的数组
                for (int i = 0; i < MistakeNumber.Length; i++)
                {
                    MistakeArray[i] = int.Parse(MistakeNumber[i].ToString()); // 将二进制数的每一位存储到数组中
                }
                Array.Reverse(MistakeArray);//数组反转
                var indexes = Enumerable.Range(0, MistakeArray.Length).Where(i => MistakeArray[i] == 1);//获取数组中1所在的索引
                LogHelper.DanInfo("HosttoagvCar", $" 获取数组中1所在的索引 {JsonConvert.SerializeObject(indexes)}");

                foreach (var Inde in indexes)
                {
                    //匹配错误 并且调用钉钉
                    var ffgh = "";
                    var ggf = Alone.Find(e => e.S_AGV_TYPE == ii && e.N_CODE_1 == Inde + 1);
                    if (ggf != null)
                    {
                        if (transportTask.S_TYPE == "入库")
                        {
                            ffgh = $"任务号: {transportTask.S_TASK_NO.Substring(transportTask.S_TASK_NO.Length - 4)} 库区:{transportTask.S_END_LAREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                            LogHelper.DanInfo("HosttoagvCar", $"任务号: {transportTask.S_TASK_NO.Substring(transportTask.S_TASK_NO.Length - 4)} 库区:{transportTask.S_END_LAREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}");
                        }
                        else
                        {
                            ffgh = $"任务号: {transportTask.S_TASK_NO.Substring(transportTask.S_TASK_NO.Length - 4)} 库区:{transportTask.S_START_LAREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                            LogHelper.DanInfo("HosttoagvCar", $"任务号: {transportTask.S_TASK_NO.Substring(transportTask.S_TASK_NO.Length - 4)} 库区:{transportTask.S_START_LAREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}");
                        }
                    }
                    //else
                    //{
                    //    ffgh = $"任务号: 库区: 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                    //    LogHelper.DanInfo("HosttoagvCar", $"任务号: 库区: 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}");
                    //}
                    if (!string.IsNullOrEmpty(ffgh))
                    {
                        BLLCreator.CreateSingleton<DingDingHelper>().button1_Click(ffgh);
                        //设备报警数统计表
                        AgbError.Add(new AgvErrorReportEntitys
                        {
                            AgvLicense = item.forkliftNo,
                            AgvErrorMsg = ggf?.S_AGV_NOTE
                        });
                    }


                }
                //添加到表
                if (AgbError.Count() > 0)
                {
                    try
                    {
                        newDb.BeginTran();
                        var B = newDb.Insertable(AgbError).ExecuteCommand();
                        newDb.CommitTran();
                    }
                    catch (Exception)
                    {

                        newDb.RollbackTran();
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.DanInfo("HosttoagvCar", "AgvCa 报错：" + ex.Message);
            }
        }
        [HttpPost]
        //[Route("CameraInfo")]
        public SimpleResult CameraInfo(List<LocationState> models)
        {
            LogHelper.Info("CameraInfo Request：" + JsonConvert.SerializeObject(models));
            return ApiHelper.OperateCameraInfo(models);
        }

        [HttpPost]
        public SimpleResult InWorkArea(InWorkAreaEntitys inWorkArea)
        {
            List<string> ac = new List<string>();
            SimpleResult result = new SimpleResult();
            var tr = TaskProcess.CreateTransport(inWorkArea.StaBit, inWorkArea.EndBit, "移送", ac, 1, 1);

            if (tr)
            {
                result.resultCode = 0;
            }
            else
            {
                result.resultCode = -1;
                result.resultMsg = "失败";
            }

            return result;
        }
    }
}