using System.Dynamic;
using JNPF;
using JNPF.Common.Extension;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json.Linq;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Interfaces;

namespace Tnb.WarehouseMgr
{
    /// <summary>
    /// 电梯控制业务服务类
    /// </summary>
    public class ElevatorControlService : BaseWareHouseService, IElevatorControlService
    {
        private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
        private readonly BackgroundService _agvHeartbeatMonitor;
        private static readonly Dictionary<string, Func<BackgroundService, bool>> _fetchStartedStausValue = new();
        private readonly bool isFrontDoorBit = false; //是否到前门位

        public ElevatorControlService()
        {
            _elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
            //_agvHeartbeatMonitor = agvHeartbeatMonitorService;
        }

        /// <summary>
        /// 呼梯测试
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task<dynamic> CallLiftTest(string devName, int floor)
        {
            bool isSuccefuly = false;
            (int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, CancellationToken.None);
            //判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
            if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
                agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
            {
                if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
                {
                    _ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
                }
                dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
                if (!string.IsNullOrEmpty(result))
                {
                    JObject jo = JObject.Parse(result);
                    isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
                }
            }
            return isSuccefuly;
        }
        /// <summary>
        /// 三楼电梯操作流程
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public dynamic ThreeFloorElevatorFlow()
        {
            //test by close door
            //_agvHeartbeatMonitor.StartAsync(CancellationToken.None);
            //await SendOpenCloseCmd(4);
            //await SetAgvControlStatus(1);
            //监听电梯门是否为关闭的状态
            //var dataStatus = 0;
            //do
            //{
            //    dataStatus = await GetTagAsync("DoorStatus");
            //} while (dataStatus != 4);

            //if (dataStatus == 4)
            //{
            //    //根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
            //    await WriteTagAsync("FloorExecute", 1);
            //    //获取电梯到达3楼的到位信号
            //    (_, int runStatus, int floorNo) = (-1, -1, -1);
            //    do
            //    {
            //        var multi = await GetElevatorStatus(CancellationToken.None);
            //        runStatus = multi.sysStatus; floorNo = multi.floorNo;
            //    } while (runStatus != 0 && floorNo != 3);
            //    // 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
            //    if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
            //    {


            //        //向电梯发送前门开门指令
            //        await SendOpenCloseCmd(3);
            //        //获取门状态 是否为 开门到位保持
            //        var doorStatus = await GetTagAsync("DoorStatus");
            //        if (doorStatus == 3) //开门到位保持状态
            //        {
            //            //通知Agv进入电梯，取货
            //            //向电梯发送关门指令
            //            await SendOpenCloseCmd(4);
            //            doorStatus = await GetTagAsync("DoorStatus");
            //            if (doorStatus == 4) //门状态，为关门到位保持
            //            {
            //                //解锁，Agv状态，将其至为
            //                var agvStatus = await GetTagAsync("AGVStatus");
            //                if (agvStatus != 2)
            //                {
            //                    await SetAgvControlStatus(0);
            //                }
            //            }
            //        }
            //    }
            //}
            return Task.FromResult(0);
        }



        private Task<object> SetRequestParameter(string tagName, object value)
        {
            TaskCompletionSource<object> tcs = new();
            dynamic reqParam = new ExpandoObject();
            reqParam.DevName = _elevatorCtlCfg.DevName;
            reqParam.TagName = tagName;
            reqParam.value = value;
            reqParam.token = _elevatorCtlCfg.token;
            tcs.SetResult(reqParam);
            return tcs.Task;

        }

        private Task<Dictionary<string, string>> SetParameter(dynamic obj)
        {
            Dictionary<string, string> parameters = new()
            {
                ["DevName"] = _elevatorCtlCfg.DevName,
                ["token"] = _elevatorCtlCfg.token,
            };
            if (obj is IDictionary<string, object> dynamicDic)
            {
                foreach ((string k, object v) in dynamicDic)
                {
                    parameters[k] = v?.ToString() ?? string.Empty;
                }
            }

            return Task.FromResult(parameters);
        }
        /// <summary>
        /// 向系统发送开关门指令
        /// </summary>
        /// <param name="devName"></param>
        /// <param name="value">开关门指令</param>
        /// <returns></returns>
        public async Task<bool> SendOpenCloseCmd(string devName, int value)
        {
            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
            {
                ["DevName"] = devName,
                ["token"] = _elevatorCtlCfg.token,
                ["TagName"] = "DoorExecute",
                ["Value"] = value.ToString()
            };
            try
            {
                _ = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
            }
            catch (Exception)
            {
                return false;
            }
            return true;
        }
        /// <summary>
        /// 设置Agv控制请求状态
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>

        private async Task<dynamic> SetAgvControlStatus(int value)
        {
            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
            {
                ["DevName"] = _elevatorCtlCfg.DevName,
                ["TagName"] = "AGVControl",
                ["Value"] = value.ToString(),
                ["token"] = _elevatorCtlCfg.token
            };
            return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
        }

        /// <summary>
        /// 向指定的标签属性写入值
        /// </summary>
        /// <param name="devName"></param>
        /// <param name="tagName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public async Task<dynamic> WriteTagAsync(string devName, string tagName, int value)
        {
            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
            {
                ["DevName"] = devName,
                ["token"] = _elevatorCtlCfg.token,
                ["TagName"] = tagName,
                ["Value"] = value.ToString()
            };
            return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
        }

        /// <summary>
        /// 根据标签名称获取标签值
        /// </summary>
        /// <param name="devName"></param>
        /// <param name="tagName"></param>
        /// <returns></returns>

        public async Task<int> GetTagAsync(string devName, string tagName)
        {
            Dictionary<string, string> dicCommand = new()
            {
                ["DevName"] = devName,
                ["token"] = _elevatorCtlCfg.token,
                ["TagName"] = tagName
            };
            string result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
            JObject jo = JObject.Parse(result);
            return jo.Value<int>("V");
        }

        /// <summary>
        /// 获取电梯状态
        /// </summary>
        /// <param name="devName"></param>
        /// <param name="token"></param>
        /// <returns></returns>

        public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token)
        {
            (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) multi = (-1, -1, -1, -1, -1);
            Dictionary<string, string> pars = new()
            {
                ["DevName"] = devName,
                ["Pos"] = "1",
                ["Count"] = "11",
                ["token"] = _elevatorCtlCfg.token
            };
            string url = _elevatorCtlCfg.GetTagListUrl;
            string systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
            JObject jo = JObject.Parse(systemInfo);
            List<JObject?> objs = jo["Items"].Values<JObject>().ToList();
            //if (objs?.Count == 4)
            {
                if (objs[0].Value<string>("Name").Equals("SysStatus")
                    && objs[1].Value<string>("Name").Equals("RunStatus")
                    && objs[3].Value<string>("Name").Equals("FloorNo"))
                {
                    multi = (objs[0].Value<int>("V"), objs[1].Value<int>("V"), objs[3].Value<int>("V"), objs[2].Value<int>("V"), objs[9].Value<int>("V"));
                }
            }
            return multi;

        }

        /// <summary>
        /// 检查Agv状态
        /// </summary>
        /// <param name="devName"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        public async Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken)
        {
            bool isInAgvStatus = false;
            int agvStatus = await GetTagAsync(devName, ElevatorConsts.AGVStatus);
            if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
            {
                dynamic result = await WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
                JObject jo = JObject.Parse(result);
                if (jo != null && jo.Value<string>("Result").Equals("Ok", StringComparison.OrdinalIgnoreCase))
                {
                    isInAgvStatus = true;
                }
            }
            return isInAgvStatus;
        }
        /// <summary>
        /// 呼梯操作
        /// </summary>
        /// <param name="devName">设备名称</param>
        /// <param name="floor">呼叫楼层</param>
        /// <param name="cancellationToken">取消令牌</param>
        /// <returns></returns>
        public async Task<bool> CallLift(string devName, int floor, CancellationToken cancellationToken)
        {
            bool isSuccefuly = false;
            (int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, CancellationToken.None);
            //判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
            if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
                agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
            {
                if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
                {
                    _ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
                }
                dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
                if (!string.IsNullOrEmpty(result))
                {
                    JObject jo = JObject.Parse(result);
                    isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
                }
            }
            return isSuccefuly;
        }
    }

    public class ElevatorData
    {
        public string? name { get; set; }
        public string? value { get; set; }
    }
}