using Hanhe.iWCS.Business;
using Hanhe.iWCS.Common;
using Hanhe.iWCS.DeviceDriver;
using Hanhe.iWCS.Model;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Hanhe.iWCS.TaizhouGEMTwoProtocol
{
    public class TSHelper
    {
        /// <summary>
        /// AGV进入
        /// </summary>
        /// <param name="taskNo">任务号</param>
        /// <param name="orderNo">序号</param>
        /// <param name="param1">新的agv终点</param>
        //public static bool GoToAGV(string taskNo, int orderNo, int param1 = 1) {
        public static bool GoToAGV(string taskNo, int orderNo, int param1)
        {
            bool bResult = false;
            //TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, orderNo, 0);
            //TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, 1, 0);
            //if (GoToAction != null) {
                
                //HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO(GoToAction.CN_S_PROGRAM_CODE);
                HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
                if (GoToAGVHao != null) {
                    //发送行走指令 到AGV
                    CMMLog.Info($"【杭叉AGV】GoToAGVHao:{GoToAGVHao}");
                    Console.WriteLine($"【杭叉AGV】GoToAGVHao:{GoToAGVHao}");
                    StringBuilder sbMsg = new StringBuilder();
                    sbMsg.Append("<Req>");
                    sbMsg.Append("<Order No='" + taskNo + "_" + "1" + "' Param1='" + param1 + "' ParamNo='" + orderNo + "' />");
                    sbMsg.Append("</Req>");
                    try {
                        object[] args = new object[1];
                        args[0] = sbMsg.ToString();
                        object errObject = GoToAGVHao._WebServiceInstance.Invoke("ChangeOrder", args);
                        string errMsg = string.Empty;
                        int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
                        if (errCode == 0) {
                            CMMLog.Info("【杭叉AGV】通知AGV行走成功！请求参数=" + sbMsg.ToString());
                            Console.WriteLine("【杭叉AGV】通知AGV行走成功！请求参数=" + sbMsg.ToString());
                            bResult = true;
                        }
                        else {
                            CMMLog.Info("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + sbMsg.ToString());
                            Console.WriteLine("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + sbMsg.ToString());
                        }
                    }
                    catch (Exception ex) {
                        CMMLog.Info("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + sbMsg.ToString());
                        Console.WriteLine("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + sbMsg.ToString());
                    }
                }
                else
                {
                    CMMLog.Info($"【杭叉AGV】GoToAGVHao==null!");
                    Console.WriteLine($"【杭叉AGV】GoToAGVHao==null!");
                }
            //}
            //else
            //{
            //    CMMLog.Info($"【杭叉AGV】GoToAction==null!");
            //    Console.WriteLine($"【杭叉AGV】GoToAction==null!");
            //}
            return bResult;
        }

        //ams下发充电任务，TS99，参数0填写车号即可。
        //当充电开始时，会发送s消息，带的三个参数分别为： 车号；81；99
        //当充电结束或者任务被取消，会发送s消息，三个参数分别为： 车号，82，99
        internal static int SendChargeTask(string agvNo, bool charge, bool full = false)
        {
            CMMLog.Info("推送充电任务：执行开始！");
            Console.WriteLine("推送充电任务：执行开始！");
            var command = charge ? "AddNewOrder" : "CancelOrder";
            int code = -1;
            try
            {
                CMMLog.Info("推送充电任务：full=" + full);
                int to = full ? 1000 : 0;
                StringBuilder sbMsg = new StringBuilder();
                sbMsg.Append("<Req>");
                if (charge)
                {
                    sbMsg.Append("<Order  TS='99' Pri='20' ExtDeviceNo='" + agvNo + "' FRow='' TRow='' No='" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff:ffffff") + "' />");
                    CMMLog.Info($"推送充电任务：{sbMsg}");
                }
                else
                {
                    sbMsg.Append("<Order Pri='20' TS='101' IsForce='1' ExtDeviceNo='" + agvNo + "' IsForce='1' From='" + agvNo + "' To='4'  />");
                    CMMLog.Info($"推送充电任务：{sbMsg}");
                }
                sbMsg.Append("</Req>");
                HardwareAccessObject AGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
                if (AGVHao != null)
                {
                    object[] args = new object[1];
                    string errMsg = string.Empty;
                    args[0] = sbMsg.ToString();
                    object xmlData = AGVHao._WebServiceInstance.Invoke(command, args);
                    code = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)xmlData, out errMsg);
                    CMMLog.Info("推送充电任务：param=" + sbMsg.ToString() + ";cmd=" + command + ";code=" + code + ";errMsg=" + errMsg);
                    if (code == 60050)
                    {
                        code = 0;
                    }
                }
            }
            catch (Exception ex)
            {
                CMMLog.Info("推送充电任务：异常：【agv=" + agvNo + ";cmd=" + command + "】charge task err：" + ex.Message.ToString());
            }
            CMMLog.Info("推送充电任务：执行结束！");
            return code;
        }

        /// <summary>
        /// 小车安全门交互
        /// </summary>
        /// <param name="lockNo"></param>
        /// <returns></returns>
        public static bool Traffic(string lockNo)
        {
            bool bResult = false;
            HardwareAccessObject AGVhao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
            if (AGVhao != null)
            {
                //发送行走指令 到AGV
                StringBuilder sbMsg = new StringBuilder();
                sbMsg.Append("<Req>");
                //sbMsg.Append("<Order TS='164' From='2' To='2' ExtDeviceNo='" + lockNo + "' No='" + DateTime.Now.Ticks.ToString() + "' />");
                sbMsg.Append("<Order TS='164' ExtDeviceNo='" + lockNo + "' No='" + DateTime.Now.Ticks.ToString() + "' />");
                sbMsg.Append("</Req>");

                var msg = string.Empty;
                try
                {
                    object[] args = new object[1];
                    args[0] = sbMsg.ToString();
                    object errObject = AGVhao._WebServiceInstance.Invoke("StartNewOrderWithQCmd", args);
                    string errMsg = string.Empty;
                    int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
                    if (errCode == 0)
                    {
                        bResult = true;
                    }
                    msg = string.Format($"【推送小车进入安全门】：" + "notice agv go errCode={0} errMsg={1} request={2}", errCode, errMsg, sbMsg.ToString());
                    //Console.WriteLine(msg);
                    CMMLog.Debug(msg);
                }
                catch (Exception ex)
                {
                    msg = string.Format($"【推送小车进入安全门：异常】：" + "notice agv go errMsg={0} request={1}", ex.Message, sbMsg.ToString());
                    //Console.WriteLine(msg);
                    CMMLog.Debug(msg);
                }
            }
            return bResult;
        }


        /// <summary>
        /// 发送和取消充电任务
        /// </summary>
        /// <param name="taskNo">任务号</param>
        /// <param name="agvNo">车号</param>
        /// <param name="command">指令方法</param>
        /// <returns></returns>
        //internal static int SendChargeTask(string taskNo, string agvNo, bool charge, bool full = false) {
        //    Console.WriteLine("SendChargeTask");
        //    var command = charge ? "AddNewOrder" : "CancelOrder";
        //    //	int code = SendAGVTaskInfo(taskNo, agvNo, "AddNewOrder");
        //    //  int code = SendAGVTaskInfo(taskNo, agvNo, "CancelOrder");
        //    int code = -1;
        //    try {
        //        CMMLog.Info("full=" + full);
        //        int to = full ? 1000 : 0;
        //        StringBuilder sbMsg = new StringBuilder();
        //        sbMsg.Append("<Req>");
        //        if (charge) {
        //            sbMsg.Append("<Order Pri='15' TS='99' No='" + taskNo + "' From='" + agvNo + "'  />");
        //        }
        //        else {
        //            sbMsg.Append("<Order Pri='15' TS='101' IsForce='1' No='" + taskNo + "' IsForce='1' From='" + agvNo + "' To='4'  />");
        //        }
        //        sbMsg.Append("</Req>");
        //        HardwareAccessObject AGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
        //        if (AGVHao != null) {
        //            object[] args = new object[1];
        //            string errMsg = string.Empty;
        //            args[0] = sbMsg.ToString();
        //            object xmlData = AGVHao._WebServiceInstance.Invoke(command, args);
        //            code = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)xmlData, out errMsg);
        //            CMMLog.Info("send charge task：param=" + sbMsg.ToString() + ";cmd=" + command + ";code=" + code + ";errMsg=" + errMsg);
        //            if (code == 60050) {
        //                code = 0;
        //            }
        //        }
        //    }
        //    catch (Exception ex) {
        //        CMMLog.Info("【agv=" + agvNo + ";cmd=" + command + "】charge task err：" + ex.Message.ToString());
        //    }
        //    return code;
        //}

        public static bool ChangeParam(string taskNo, int paramNo, params int[] param) {
            bool bResult = false;
            TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, 1, 0);
            if (GoToAction != null) {
                HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO(GoToAction.CN_S_PROGRAM_CODE);
                if (GoToAGVHao != null) {
                    //发送行走指令 到AGV
                    var req = $"<Req><Order No = '{taskNo}_1' ParamNo = '{paramNo}' Param1='{param[0]}'/></Req> ";
                    if (param.Length > 1) {
                        req = $"<Req><Order No = '{taskNo}_1' ParamNo = '{paramNo}' Param1='{param[0]}' Param2='{param[1]}'/></Req> ";
                    }
                    try 
                    {
                        object[] args = new object[1];
                        args[0] = req;
                        object errObject = GoToAGVHao._WebServiceInstance.Invoke("ChangeOrder", args);
                        string errMsg = string.Empty;
                        int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
                        if (errCode == 0) {
                            CMMLog.Info("【杭叉AGV】通知AGV行走成功！请求参数=" + req);
                            bResult = true;
                        }
                        else {
                            CMMLog.Info("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + req);
                        }
                    }
                    catch (Exception ex) {
                        CMMLog.Info("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + req);
                    }
                }
            }
            return bResult;
        }
    }
}