using HanHe.Message;
using HH.WCS.ZhongCeJinTan.core;
using HH.WCS.ZhongCeJinTan.dispatch;
using HH.WCS.ZhongCeJinTan.process;
using HH.WCS.ZhongCeJinTan.util;
using HH.WCS.ZhongCeJinTan.wms;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Web.Http;
using static HH.WCS.ZhongCeJinTan.api.ApiModel;

namespace HH.WCS.ZhongCeJinTan.api
{
    //[RoutePrefix("Agv")]
    public class AgvController : System.Web.Http.ApiController
    {


        [HttpPost]
        public  ReturnResult AGVCallbackState(AgvTaskState model)
        {
            LogHelper.Info("AGVCallbackState Request：" + JsonConvert.SerializeObject(model), "HosttoagvTask");
            try
            {
                TaskCore.addAgvActionState(model);
                return new ReturnResult();
            }
            catch (Exception)
            {
                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]
        public ReturnResult AGVDeviceReceive(List<AgvDeviceStatus> models)
        {
            LogHelper.Info("AGVDeviceReceive 参数信息：" + JsonConvert.SerializeObject(models),"HosttoagvCar");
            try
            {
                var chi = new SqlHelper<object>().GetInstance();
                var newDb = chi.CopyNew();
                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.Info($"errCode {item.errCode} errCode2 {item.errCode}","HosttoagvCar");
                        if (percentage.ContainsKey(item.forkliftNo))
                        {
                            var Model = percentage[item.forkliftNo];
                            double differenceInMinutes = (Model.Operattime - item.Operattime).TotalMinutes;
                            if (differenceInMinutes > 5)
                            {
                                LogHelper.Info($" 车体错误缓存 {JsonConvert.SerializeObject(Model)}", "HosttoagvCar");
                                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");
                            }


                        }
                    }
                    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.Info("AGVDeviceReceive 异常：" + ex.Message, "HosttoagvCar");
            }

            return new ReturnResult();
        }






        /// <summary>
        /// 车体信息插入数据库
        /// </summary>
        /// <param name="Conds"></param>
        /// <returns></returns>
        public void 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 = chi.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();
              
            }
            catch (Exception ex)
            {
                newDb.RollbackTran();
                LogHelper.Info("UpdateAgvState 异常：" + ex.Message, "HosttoagvCar");
            }
        }
        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_SCHEDULE_TYPE == "agv" && 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.Info( $" 小车错误二进制 {MistakeNumber}","HosttoagvCar");
                int[] MistakeArray = new int[MistakeNumber.Length]; // 创建一个长度等于二进制数位数的数组
                for (int i = 0; i < MistakeNumber.Length; i++)
                {
                    MistakeArray[i] = int.Parse(MistakeNumber[i].ToString()); // 将二进制数的每一位存储到数组中
                }
                Array.Reverse(MistakeArray);//数组反转
                var indexes = Enumerable.Range(0, MistakeArray.Length).Where(i => MistakeArray[i] == 1);//获取数组中1所在的索引
                LogHelper.Info($" 获取数组中1所在的索引 {JsonConvert.SerializeObject(indexes)}", "HosttoagvCar");

                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.Contains("入库"))
                        {
                            ffgh = $"任务号: {transportTask.S_CODE} \n 库区:{transportTask.S_END_AREA} \n 车号:{item.forkliftNo} \n 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                            LogHelper.Info($"任务号: {transportTask.S_CODE}库区:{transportTask.S_END_AREA} 车号:{item.forkliftNo}  错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}", "HosttoagvCar");
                        }
                        else
                        {
                            ffgh = $"任务号: {transportTask.S_CODE} \n 库区:{transportTask.S_START_AREA} \n 车号:{item.forkliftNo}\n 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                            LogHelper.Info($"任务号: {transportTask.S_CODE} 库区:{transportTask.S_START_AREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}", "HosttoagvCar");
                        }
                    }
                    else
                    {
                        ffgh = $"任务号: 库区: 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE}  时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
                        LogHelper.Info($"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")}", "HosttoagvCar");
                    }
                    if (!string.IsNullOrEmpty(ffgh))
                    {
                        var dd = new DingDingHelper();
                        dd.button1_Click(ffgh);
                    }
                    AgbError.Add(new AgvErrorReportEntitys
                    {
                        AgvLicense = item.forkliftNo,
                        AgvErrorMsg = ggf?.S_AGV_NOTE
                    });
                    //设备报警数统计表

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

                    newDb.RollbackTran();
                }

            }
            catch (Exception ex)
            {
                LogHelper.Info("AGVDeviceReceive 异常：" + ex.Message, "HosttoagvCar");
            }
        }

        /// <summary>
        /// 修改任务优先级
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        public zcResult Task(taskParme model)
        {
            LogHelper.Info("task 参数：" + JsonConvert.SerializeObject(model), "API");
            var res = TaskProcess.task1(model);
            LogHelper.Info("task 返回：" + JsonConvert.SerializeObject(res), "API");
            return res;
        }


 

        /// <summary>
        /// 强制完成任务信息
        /// </summary>
        [HttpPost]
        public Result CompleteTask(cancleTaskParme model)
        {
            LogHelper.Info("CompleteTask 参数：" + JsonConvert.SerializeObject(model), "API");
            var res = TaskProcess.completeTask1(model);
            LogHelper.Info("CompleteTask 返回：" + JsonConvert.SerializeObject(res), "API");
            return res;
        }

    }
}