using System;
using System.Threading.Tasks;

using HH.WCS.Mobox3.DSZSH.Consts;
using HH.WCS.Mobox3.DSZSH.Devices;
using HH.WCS.Mobox3.DSZSH.Helpers;
using HH.WCS.Mobox3.DSZSH.Models;
using HH.WCS.Mobox3.DSZSH.ServiceCore;

using Newtonsoft.Json;

using static HH.WCS.Mobox3.DSZSH.Dtos.Request.AgvRequest;
using static HH.WCS.Mobox3.DSZSH.Dtos.Response.AgvResponse;

namespace HH.WCS.Mobox3.DSZSH.Services {
    public class AgvService {
        public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
            var result = new ReturnResult();
            try {
                switch (model.state) {
                    case 1023:
                        break;
                    case 1025:
                        break;
                    case 1012:
                        break;
                    case 1004:
                        break;
                    case 1103:
                        break;
                    default:
                        // AGV 执行任务的逻辑处理
                        if (!AgvTaskProcessOk(model)) {
                            // 执行不OK，说明没有找到任务
                            result.ResultCode = 1;
                            result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
                            LogHelper.Info(result.ResultMsg, "API");
                            return result;
                        }
                        break;
                }

                result.ResultCode = 0;
                result.ResultMsg = "success";
                LogHelper.Info(result.ResultMsg, "API");
                return result;
            }
            catch (Exception ex) {
                result.ResultCode = -1;
                result.ResultMsg = $"发生了异常：+{ex.Message}";
                LogHelper.Info(result.ResultMsg, "Error");
                return result;
            }

        }

        /// <summary>
        /// 执行 AGV 任务，查询不到任务返回 <see langword="false"/>
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        private static bool AgvTaskProcessOk(AgvTaskState model) {
            var TN_Task = TaskHelper.GetTask(model.task_no); // 根据当前model编号查询任务
            if (TN_Task == null) { return false; }

            if (model.state > 7) {
                //安全请求等
                TaskHelper.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data);
                return true;
            }

            // AGV 任务 134562(7) 状态处理
            switch (model.state) {
                case AgvStateCode.执行:
                    TaskHelper.Begin(TN_Task, model.forklift_no); // 已推送的任务的状态改成执行
                    break;
                case AgvStateCode.开始取货:
                    TaskHelper.UpdateStatus(TN_Task, "开始取货"); // 任务状态改成开始取货
                    break;
                case AgvStateCode.取货完成:
                    TaskHelper.UpdateStatus(TN_Task, "取货完成"); // 任务状态改成取货完成
                    TaskHelper.OperateStatus(TN_Task, 4); // 起点容器货位解绑,解锁起点

                    if (TN_Task.S_TYPE == TaskName.成品胶出库) {
                        var nextOutboundTask = Task.Run(() => {
                            OutboundCore.UpdateTaskState(SpotStateCode.任务执行完成);
                        });
                    }

                    break;
                case AgvStateCode.开始卸货:
                    TaskHelper.UpdateStatus(TN_Task, "开始卸货"); // 任务状态改成开始卸货
                    break;
                case AgvStateCode.卸货完成:
                    TaskHelper.UpdateStatus(TN_Task, "卸货完成"); // 任务状态改成卸货完成
                    TaskHelper.OperateStatus(TN_Task, 6); // 终点容器货位绑定,解锁终点
                    break;
                case AgvStateCode.完成:
                    TaskHelper.End(TN_Task); // 任务状态改成结束

                    if (TN_Task.S_TYPE == TaskName.抽检_出库) {
                        var checkCompleteTask = Task.Run(() => {
                            CheckCore.UpdateTaskState(SpotStateCode.任务执行完成);
                        });
                    }

                    break;
                case AgvStateCode.异常:
                    TaskHelper.OperateStatus(TN_Task, 7); // 异常处理
                    TaskHelper.Fail(TN_Task); // 任务状态改成错误
                    break;
            }

            // 将AGV执行状态，加入TN_Task_Action表中
            TaskHelper.AddActionRecord(model.task_no, model.state, model.forklift_no, model.ext_data);
            //调用第三方接口（如果有）TaskProcess.ReportStatus，添加任务动作关系表

            return true;
        }
    
        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
            var gzResult = new ReturnResult();
            var db = DbHelper.GetDbClient();
            ModbusHelper.Relink();

            try {
                

                var prodLineInfo = AppStart.Settings.Config.ProductionLines[0];
                var prodLineDevice = new ProductionLineDevice(prodLineInfo.PlcIp, prodLineInfo.PlcPort);
                if (!prodLineDevice.LoadDeviceStateOk()) {
                    LogHelper.Info("加载设备信息失败");
                }

                var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
                if (tn_task == null) {
                    LogHelper.Info($"任务号 '{model.task_no}' 不存在");
                }

                // 待修改：补充不同分支AGV判断
                if (prodLineDevice.SystemState == 1) {
                    if (prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == TaskName.托盘_满托下线入库) {
                        prodLineDevice.AgvPicking = 1;
                    }
                    if (prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == TaskName.托盘_空托上线) {
                        prodLineDevice.AgvPlacingPallet = 1;
                    }
                }

                LogHelper.Info(JsonConvert.SerializeObject(prodLineDevice, Formatting.Indented));
                return gzResult;
            }
            catch (Exception ex) {
                LogHelper.Info($"发生了异常：{ex.Message}");
                return gzResult;
            }
        }
    }
}