using HH.WCS.JunzhouNongfu.device;
using HH.WCS.Mobox3.YNJT_BZP.api;
using HH.WCS.Mobox3.YNJT_BZP.dispatch;
using HH.WCS.Mobox3.YNJT_BZP.models;
using HH.WCS.Mobox3.YNJT_BZP.process;
using HH.WCS.Mobox3.YNJT_BZP.util;
using HH.WCS.Mobox3.YNJT_BZP.wms;
using Newtonsoft.Json;
using Org.BouncyCastle.Asn1.X509;
using S7.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Sockets;
using System.Runtime.Remoting.Metadata.W3cXsd2001;
using System.Threading.Tasks;
using static HH.WCS.Mobox3.YNJT_BZP.api.AgvController;
using static HH.WCS.Mobox3.YNJT_BZP.api.ApiModel;
using static HH.WCS.Mobox3.YNJT_BZP.dispatch.GtDispatch;
using static HH.WCS.Mobox3.YNJT_BZP.util.Settings;

namespace HH.WCS.Mobox3.YNJT_BZP.core {
    internal class WCSCore {
        public static void OperateAgvTaskStatus(AgvTaskState model) {
            LogHelper.Info($"AGV任务状态反馈，入参：{JsonConvert.SerializeObject(model)}", "AGV");
            try
            {
                if (string.IsNullOrEmpty(model.No))
                {
                    LogHelper.Info("任务号为空", "AGV");
                }
                else
                {
                    var TN_Task = WCSHelper.GetTask(model.No);
                    if (TN_Task != null)
                    {
                        var wmsTask = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
                        if (wmsTask != null && wmsTask.N_B_STATE < 2) 
                        {
                            if (model.State <= 7)
                            {
                                //有任务号请求
                                switch (model.State)
                                {
                                    case 1:
                                        TN_Task.S_EQ_NO = model.ForkliftNo;
                                        WCSHelper.Begin(TN_Task);
                                        break;
                                    #region MyRegion
                                    case 3:
                                        WCSHelper.UpdateStatus(TN_Task, "开始取货");
                                        break;
                                    case 4:
                                        WCSHelper.UpdateStatus(TN_Task, "取货完成");
                                        TaskProcess.OperateStatus(TN_Task, 4);
                                        break;
                                    case 5:
                                        WCSHelper.UpdateStatus(TN_Task, "开始卸货");
                                        break;
                                    case 6:
                                        TaskProcess.OperateStatus(TN_Task, 6);
                                        WCSHelper.UpdateStatus(TN_Task, "卸货完成");

                                        // AGV卸货输送线，触发入库任务
                                        if (TN_Task.S_END_LOC != wmsTask.S_END_LOC)
                                        {
                                            LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV卸货输送线，触发WCS入库任务", "AGV");
                                            Container container = ContainerHelper.GetCntr(TN_Task.S_CNTR_CODE);
                                            if (container != null)
                                            {
                                                WCSCore.createLastTask(TN_Task.S_END_LOC, wmsTask, 1);
                                            }
                                        }
                                        break;
                                    #endregion
                                    case 2:
                                        WCSHelper.End(TN_Task);

                                        var cntrItemRels = ContainerHelper.GetCntrItemRel(TN_Task.S_CNTR_CODE);
                                        if (cntrItemRels.Count > 0)
                                        {
                                            LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务完成，任务信息回报GT", "AGV");
                                            string shift = ApiHelper.getShift(DateTime.Now.TimeOfDay);
                                            string ydate= "";
                                            if (shift == "III")
                                            {
                                                ydate = DateTime.Now.AddDays(-1).ToString("dd/MM/yy");
                                            }
                                            else
                                            {
                                                ydate = DateTime.Now.ToString("dd/MM/yy");
                                            }
                                            Trfloc trfloc = new Trfloc()
                                            {
                                                recid = 1,
                                                ydate = ydate,
                                                shift = shift,
                                                bc_entried = cntrItemRels[0].S_CG_ID,
                                                loc_from = TN_Task.S_START_LOC,
                                                loc_to = TN_Task.S_END_LOC,
                                                qty = cntrItemRels[0].F_QTY,
                                                lot = 1,
                                                scantime = TN_Task.T_CREATE.ToString("yyyy-MM-dd HH:mm:ss"),
                                                pic = model.ForkliftNo,
                                                last_modify_time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
                                            };
                                           
                                        }
                                        break;
                                    case 7:
                                        LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务取消", "AGV");
                                        //判断是否收到过强制取消，有就不做任何处理
                                        if (!WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, 17))
                                        {
                                            TaskProcess.OperateStatus(TN_Task, 7);
                                            WCSHelper.Cancel(TN_Task);
                                        }
                                        break;
                                }
                            }
                            else if (model.State == 1003)
                            {
                                LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车进入等待位：{TN_Task.S_END_LOC}", "AGV");
                                // 卸货前等待
                                // 查询当前终点是等待区，则查询入库agv接驳位
                                var waitLoc = Settings.getAgvWaitLoc(TN_Task.S_END_LOC);
                                if (waitLoc != null)
                                {
                                    if (TN_Task.S_TYPE.Contains("入库")) 
                                    {
                                        var endLoc = AGVApplyEndLoc(model.No);
                                        if (endLoc != null) 
                                        {
                                            LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车变更终点：{endLoc.S_CODE}", "AGV");
                                            // 通知AGV更改终点
                                            ChangeParamModel paramModel = new ChangeParamModel()
                                            {
                                                task_no = model.No,
                                                param_no = 0,
                                                param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;400;0;2"
                                            };
                                            LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
                                            /* NDCApi.ChangeOrderParam(paramModel);*/
                                        }
                                    }
                                }
                            }
                            else if (model.State == 1004)
                            {
                                LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车卸货后在接驳位:{TN_Task.S_END_LOC}等待", "AGV");
                                // 卸货后等待
                                // 查询终点货位是否是入库接驳位
                                var agvJBLoc = Settings.getAgvJBLoc(TN_Task.S_END_LOC);
                                if (agvJBLoc != null && agvJBLoc.action == 1)
                                {
                                    //是则查询WCS的任务执行情况
                                    var wcsTask = WCSHelper.GetTaskBySrcNoAndScheduleType(TN_Task.S_OP_CODE, "WCS" , wmsTask.S_TYPE);
                                    if (wcsTask != null)
                                    {
                                        bool existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 7);
                                        if (existAction)
                                        {
                                            LogHelper.Info($"下游任务：{wcsTask.S_CODE}取消入库，rfid校验失败，生成新任务到异常区", "AGV");
                                            //如果WCS反馈7取消任务，则rfid校验失败，生成新任务到异常区，并变更agv任务号、起点、终点
                                            var mst = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
                                            var endLoc = WMSHelper.getErrorBufferAreaLoc();
                                            if (endLoc != null)
                                            {
                                                LocationHelper.UnLockLoc(mst.S_END_LOC);
                                                mst.S_END_LOC = endLoc.S_CODE;
                                                mst.S_END_AREA = endLoc.S_AREA_CODE;

                                                var newWcsTask = WCSCore.createLastTask(TN_Task.S_END_LOC, mst, 2, "出库异常区任务");
                                                LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车改道终点：{newWcsTask.S_END_LOC}", "AGV");
                                                if (newWcsTask != null)
                                                {
                                                    WCSHelper.End(TN_Task);

                                                    // 通知AGV更改终点
                                                    ChangeParamModel paramModel = new ChangeParamModel()
                                                    {
                                                        task_no = model.No,
                                                        param_no = 0,
                                                        param = $"{model.No};{newWcsTask.S_START_LOC};{newWcsTask.S_END_LOC};0;0;0;1"
                                                    };
                                                    LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
                                                    /*NDCApi.ChangeOrderParam(paramModel);*/
                                                }
                                                return;
                                            }
                                            else
                                            {
                                                LogHelper.Info("异常区没有空货位，无法入库异常区", "AGV");
                                            }
                                        }

                                        existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 3);
                                        if (existAction)
                                        {
                                            LogHelper.Info($"任务号：{TN_Task.S_CODE}，RFID检测通过，AGV任务正常完成", "AGV");
                                            //WCS反馈3已取货，则agv任务正常结束 ，通知AGV完成任务
                                            ChangeParamModel paramModel = new ChangeParamModel()
                                            {
                                                task_no = model.No,
                                                param_no = 0,
                                                param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;0;0;1"
                                            };
                                            LogHelper.Info($"通知AGV完成任务，参数:{paramModel}", "AGV");
                                            /*NDCApi.ChangeOrderParam(paramModel);*/
                                        }
                                    }
                                }
                            }
                            else
                            {
                                //安全请求等
                                TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData);
                            }

                            WCSHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData);
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.Info($"agv回报错误，错误原因：{ex.Message}", "AGV");
            }
        }

        /// <summary>
        /// 创建最后一个任务
        /// </summary>
        /// <param name="startLocCode"></param>
        /// <param name="mst"></param>
        /// <param name="actType">1.入库 2.出库</param>
        /// <returns></returns>
        public static WCSTask createLastTask(string startLocCode , WMSTask mst ,int actType ,string typeName = null) 
        {
            LogHelper.Info($"作业号：{mst.S_CODE}，创建下一段任务", "WMS");
            var existTask = WCSHelper.GetTaskByStart(startLocCode);
            if (existTask == null) 
            {
                var startLoc = LocationHelper.GetLoc(startLocCode);
                if (startLoc != null)
                {
                    string cntrCode = "";
                    string scheduleType = "";
                    if (actType == 1)
                    {
                        var locCntrRels = LocationHelper.GetLocCntr(startLocCode);
                        if (locCntrRels.Count > 0)
                        {
                            foreach (var cntr in locCntrRels)
                            {
                                cntrCode = cntrCode + "," + cntr.S_CNTR_CODE;
                            }
                            cntrCode = cntrCode.Substring(1, cntrCode.Length - 1);
                        }
                        scheduleType = "WCS";
                    }

                    if (actType == 2)
                    {
                        cntrCode = mst.S_CNTR_CODE;
                        scheduleType = "AGV";
                    }
                    string type = "";
                    if (typeName == null)
                    {
                        type = mst.S_TYPE + "-2";
                    }
                    else
                    {
                        type = typeName;
                    }

                    // 创建一段入库任务
                    WCSTask wcsTask = new WCSTask()
                    {
                        S_OP_NAME = mst.S_OP_DEF_NAME,
                        S_OP_CODE = mst.S_CODE,
                        S_CODE = WCSHelper.GenerateTaskNo(),
                        S_CNTR_CODE = cntrCode,
                        S_TYPE = type,
                        S_START_LOC = startLoc.S_CODE,
                        S_START_AREA = startLoc.S_AREA_CODE,
                        S_END_LOC = mst.S_END_LOC,
                        S_END_AREA = mst.S_END_AREA,
                        S_SCHEDULE_TYPE = scheduleType,
                        N_PRIORITY = mst.N_PRIORITY,
                        T_START_TIME = DateTime.Now,
                    };

                    if (WCSHelper.CreateTask(wcsTask))
                    {
                        // 起点、接驳点、终点加锁
                        LocationHelper.LockLoc(wcsTask.S_START_LOC, 2);
                        LocationHelper.LockLoc(wcsTask.S_END_LOC, 1);

                        WMSHelper.UpdateTaskEnd(mst);
                        return wcsTask;
                    }
                }
            }
            return null;
        }

        /// <summary>
        /// 任务分发，根据调度类型发给不同的调度系统
        /// </summary>
        internal static void Dispatch() {
            var db = new SqlHelper<object>().GetInstance();
            //查询任务
            //获取所有等待的任务
            var list = WCSHelper.GetWaitingTaskList();
            if (list.Count > 0) {
                foreach (var task in list)
                {
                    if (!TaskProcess.Intercept(task))
                    {
                        //使用自定义任务推送
                        TaskProcess.SendTask(task);
                    }
                }
            }
        }

        private static readonly object emptyTrayInLock = new object(); // 静态锁对象

        /// <summary>
        /// agv申请终点
        /// </summary>
        /// <param name="taskNo"></param>
        public static Location AGVApplyEndLoc(string taskNo) 
        {
            LogHelper.Info($"任务号：{taskNo},AGV等待区申请终点", "AGV");
            var cst = WCSHelper.GetTask(taskNo);
            if (cst != null && cst.N_B_STATE < 3)
            {
                var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
                if (mst != null && mst.N_B_STATE < 2 && mst.S_END_LOC == "虚拟货位")
                {
                    var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
                    if (container != null)
                    {
                        string itemCode = null;
                        var cntrItemRels = ContainerHelper.GetCntrItemRel(cst.S_CNTR_CODE);
                        if (cntrItemRels.Count > 0)
                        {
                            // 满料托盘入库
                            itemCode = cntrItemRels[0].S_ITEM_CODE;
                            int itemType = cntrItemRels[0].N_PRODUCT_TYPE_CODE;
                            var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1, itemCode);
                            if (endLoc != null)
                            {
                                Location agvLoc = null;
                                var locCodes = Settings.getAgvJBLocList( endLoc.N_ROADWAY, 1);
                                if (locCodes.Count > 0)
                                {
                                    foreach (var locCode in locCodes)
                                    {
                                        agvLoc = LocationHelper.GetLoc(locCode);
                                        if (agvLoc != null && agvLoc.C_ENABLE == "Y")
                                        {
                                            cst.S_END_LOC = agvLoc.S_CODE;
                                            cst.S_END_AREA = agvLoc.S_AREA_CODE;
                                            WCSHelper.UpdateTaskEnd(cst);

                                            mst.S_END_LOC = endLoc.S_CODE;
                                            mst.S_END_AREA = endLoc.S_AREA_CODE;
                                            WMSHelper.UpdateTaskEnd(mst);
                                            LocationHelper.LockLoc(endLoc.S_CODE, 1);

                                            LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
                                            return agvLoc;
                                        }
                                    }
                                    LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
                                }
                                else
                                {
                                    LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
                                }
                            }
                            else
                            {
                                LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
                            }
                        }
                        else 
                        {
                            // 空托盘回库
                            lock (emptyTrayInLock) 
                            {
                                var emptyTrayBuffers = WMSHelper.getEmptyTrayBufferList();
                                if (emptyTrayBuffers.Count > 0)
                                {
                                    var emptyTray = emptyTrayBuffers.Where(a => a.TRAY_TYPE == container.N_TYPE).OrderBy(a => a.T_CREATE).FirstOrDefault();
                                    if (emptyTray != null)
                                    {
                                        var endLoc = LocationHelper.GetLoc(emptyTray.END_LOC);
                                        cst.S_END_LOC = endLoc.S_CODE;
                                        cst.S_END_AREA = endLoc.S_AREA_CODE;
                                        WCSHelper.UpdateTaskEnd(cst);

                                        mst.S_END_LOC = endLoc.S_CODE;
                                        mst.S_END_AREA = endLoc.S_AREA_CODE;
                                        WMSHelper.UpdateTaskEnd(mst);
                                        LocationHelper.LockLoc(endLoc.S_CODE, 1);

                                        emptyTray.IS_CREATED = "Y";
                                        WMSHelper.updateEmptyTrayBuffer(emptyTray);
                                    }
                                }
                                else 
                                {
                                    var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1);
                                    if (endLoc != null)
                                    {
                                        Location agvLoc = null;
                                        var locCodes = Settings.getAgvJBLocList(endLoc.N_ROADWAY, 1);
                                        if (locCodes.Count > 0)
                                        {
                                            foreach (var locCode in locCodes)
                                            {
                                                agvLoc = LocationHelper.GetLoc(locCode);
                                                if (agvLoc != null && agvLoc.C_ENABLE == "Y")
                                                {
                                                    cst.S_END_LOC = agvLoc.S_CODE;
                                                    cst.S_END_AREA = agvLoc.S_AREA_CODE;
                                                    WCSHelper.UpdateTaskEnd(cst);

                                                    mst.S_END_LOC = endLoc.S_CODE;
                                                    mst.S_END_AREA = endLoc.S_AREA_CODE;
                                                    WMSHelper.UpdateTaskEnd(mst);
                                                    LocationHelper.LockLoc(endLoc.S_CODE, 1);
                                                    
                                                    LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
                                                    return agvLoc;
                                                }
                                            }

                                            LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
                                        }
                                        else
                                        {
                                            LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
                                        }
                                    }
                                    else
                                    {
                                        LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
                                    }
                                }
                            }
                        }
                    }
                    else 
                    {
                        LogHelper.Info($"任务号：{taskNo},AGV任务的容器：{cst.S_CNTR_CODE}不存在", "AGV");
                    }
                }
                else 
                {
                    LogHelper.Info($"任务号：{taskNo},AGV任务已申请终点，请勿重复申请", "AGV");
                }
            }
            else 
            {
                LogHelper.Info($"任务号：{taskNo},AGV任务已完成或取消", "AGV");
            }
            return null;
        }

    }
}