using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace HH.WCS.Mobox3.AnGang.Helpers {
    public class AgvHelper {
        /// <summary>
        /// AGV 任务状态优先级：1->3->4->5->6->2
        /// </summary>
        private static readonly int[] _agvTaskStatePri = { 0, 1, 6, 2, 3, 4, 5 };

        /// <summary>
        /// AGV 状态变化表：1->3->4->5->6->2 | 0->0 | 2->0
        /// </summary>
        private static readonly int[] _agvNextState = new int[] { 0, 3, 0, 4, 5, 6, 2 };

        /// <summary>
        /// 判断AGV状态是否为合法的下个状态（包含检查状态是否为任务状态）
        /// </summary>
        /// <remarks>
        /// 1. 前后状态只要有不合法都会返回 <see langword="false"/><br/>
        /// 2. nextState 可以与 lastState 相同
        /// </remarks>
        /// <param name="lastState"></param>
        /// <param name="nextState"></param>
        /// <returns></returns>
        public static bool IsNextStateOk(int lastState, int nextState) {
            var lastPri = GetPri(lastState);
            var nextPri = GetPri(nextState);
            return lastPri != 0 && nextPri != 0 && lastPri <= nextPri;
        }

        /// <summary>
        /// 获取AGV当前状态的下个状态：不合法或为 2(完成) 时返回 0
        /// </summary>
        /// <param name="curState"></param>
        /// <returns></returns>
        public static int GetNextState(int curState) {
            if (!IsTaskState(curState)) return 0;
            return _agvNextState[curState];
        }

        /// <summary>
        /// 判断 AGV 状态是否为正常的执行任务状态：134562
        /// </summary>
        /// <param name="state"></param>
        /// <returns></returns>
        private static bool IsTaskState(int state) {
            return state > 0 && state < 7;
        }

        /// <summary>
        /// GetTaskStatePri：获取 AGV 任务状态的优先级（包含检查状态是否为任务状态）
        /// </summary>
        /// <param name="state"></param>
        /// <returns></returns>
        private static int GetPri(int state) {
            if (!IsTaskState(state)) { return 0; }
            return _agvTaskStatePri[state];
        }
    }
}