using System;
using System.Collections.Generic;
using System.Dynamic;
using System.Linq;
using System.Linq.Expressions;
using System.Text;
using System.Threading.Tasks;
using JNPF;
using JNPF.DependencyInjection;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Hosting;
using MimeKit.Cryptography;
using Newtonsoft.Json.Linq;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Configs;

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

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

        /// <summary>
        /// 一楼电梯操作流程
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task<dynamic> FirstFloorElevatorFlow(string value)
        {
            CancellationTokenSource cts = new CancellationTokenSource();//扩展用
            //获取电梯状态
            (int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
            do
            {
                multi = await GetElevatorStatus(CancellationToken.None);
                await Task.Delay(2000);
            } while (multi.sysStatus != 3 && multi.runStatus != 0);
            if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
            {
                //如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
                var wirteRes = await SetAgvControlStatus(0);
                JObject jo = JObject.Parse(wirteRes);

                if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
                {
                    var propName = "IsStarted";
                    if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
                    {
                        var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
                        var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
                        var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
                        var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
                        func = body.Compile();
                        _fetchStartedStausValue[propName] = func;
                    }
                    var isStarted = func(_agvHeartbeatMonitor);
                    if (!isStarted)
                    {
                        _agvHeartbeatMonitor.StartAsync(cts.Token);
                    }
                    //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)
                    {
                        //通知Agv进入电梯，放货,默认为true
                        if (true)
                        {
                            //向电梯发送关门指令
                            await SendOpenCloseCmd(4);
                        }
                    }

                }
            }
            return Task.FromResult(0);
        }
        /// <summary>
        /// 三楼电梯操作流程
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task<dynamic> ThreeFloorElevatorFlow()
        {
            //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", 48);
                //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);
        }

        /// <summary>
        /// x2server测试
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        public async Task<dynamic> X2ServerTest()
        {
            //var r = new Random();
            int currentValue = 0;

            while (true)
            {
                var readRes = await GetElevatorStatus(CancellationToken.None);
                await Console.Out.WriteLineAsync($"接收结果：{readRes}");

                currentValue = 1 - currentValue; // 切换为0或1
                dynamic obj = new ExpandoObject();
                obj.TagName = "AGVControl";
                obj.Value = currentValue;
                var parameter = await SetParameter(obj);
                var wirteRes = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: parameter);
                await Console.Out.WriteLineAsync($"写入结果：{wirteRes}");
                await Task.Delay(1000);
            }
        }

        private Task<object> SetRequestParameter(string tagName, object value)
        {
            var tcs = new TaskCompletionSource<object>();
            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)
        {
            var parameters = new Dictionary<string, string>()
            {
                ["DevName"] = _elevatorCtlCfg.DevName,
                ["token"] = _elevatorCtlCfg.token,
            };
            var dynamicDic = obj as IDictionary<string, object>;
            if (dynamicDic != null)
            {
                foreach (var (k, 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="value">开关门指令</param>
        /// <returns></returns>
        private async Task SendOpenCloseCmd(int value)
        {
            var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
            dicCommand["DevName"] = _elevatorCtlCfg.DevName;
            dicCommand["token"] = _elevatorCtlCfg.token;
            dicCommand["TagName"] = "DoorExecute";
            dicCommand["Value"] = value.ToString();
            await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
        }
        /// <summary>
        /// 设置Agv控制请求状态
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>

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

        /// <summary>
        /// 向指定的标签属性写入值
        /// </summary>
        /// <param name="tagName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        private async Task<dynamic> WriteTagAsync(string tagName, int value)
        {
            var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
            dicCommand["DevName"] = _elevatorCtlCfg.DevName;
            dicCommand["token"] = _elevatorCtlCfg.token;
            dicCommand["TagName"] = tagName;
            dicCommand["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="tagName"></param>
        /// <returns></returns>

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

        /// <summary>
        /// 获取Agv状态 0：正常状态 1：等待进入 AGV 状态 2： AGV 运行状态
        /// </summary>
        /// <returns></returns>
        //private async Task<int> GetAgvStatus()
        //{
        //    var dicCommand = new Dictionary<string, string>();
        //    dicCommand["DevName"] = _elevatorCtlCfg.DevName;
        //    dicCommand["token"] = _elevatorCtlCfg.token;
        //    dicCommand["TagName"] = "AGVStatus";
        //    var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
        //    JObject jo = JObject.Parse(result);
        //    return jo.Value<int>("V");
        //}

        /// <summary>
        /// 获取门状态
        /// </summary>
        /// <returns></returns>
        //private async Task<int> GetDoorStatus()
        //{
        //    var doorStatusParam = new Dictionary<string, string>();
        //    doorStatusParam["DevName"] = _elevatorCtlCfg.DevName;
        //    doorStatusParam["token"] = _elevatorCtlCfg.token;
        //    doorStatusParam["TagName"] = "DoorStatus";
        //    var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: doorStatusParam);
        //    JObject jo = JObject.Parse(result);
        //    return jo.Value<int>("V");
        //}

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

        private async Task<(int sysStatus, int runStatus, int floorNo)> GetElevatorStatus(CancellationToken token)
        {
            (int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
            var pars = new Dictionary<string, string>();
            pars["DevName"] = _elevatorCtlCfg.DevName;
            pars["Pos"] = "1";
            pars["Count"] = "4";
            pars["token"] = _elevatorCtlCfg.token;
            var url = _elevatorCtlCfg.GetTagListUrl;
            var systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
            var jo = JObject.Parse(systemInfo);
            var 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[2].Value<int>("V"));
                }
            }
            return multi;

        }
    }
}