using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using HBLConsole.Service;
using Lebai.SDK;
using Lebai.SDK.Dtos;
using Robotc;
using HBLConsole.Model;

namespace HBLConsole.Communication
{
    public class LebaiHelper
    {

        public const int SENCE_自嗨 = 10008;
        //public const int SENCE_接冰淇淋1 = 10004;
        //public const int SENCE_接冰淇淋2 = 10003;
        //public const int SENCE_接冰淇淋3 = 10005;
        //public const int SENCE_咖啡 = 10006;
        //#region 新增场景
        //public const int SENCE_取咖啡杯 = 10013;
        //public const int SENCE_咖啡杯检测 = 10014;
        //public const int SENCE_再次取杯 = 10017;
        //public const int SENCE_接咖啡 = 10015;
        //public const int SENCE_送咖啡 = 10016; //无取走咖啡检测配合场景
        //public const int SENCE_New送咖啡 = 10021;//有取走咖啡检测配合场景
        //public const int SENCE_有无咖啡检测 = 10019;
        //public const int SENCE_再送咖啡 = 10020;
        //public const int SENCE_复位 = 10018;
        //#endregion
        //public const int SENCE_欢迎 = 10002;


        #region 且时且多设备
        public const int SENCE_取咖啡杯 = 10031;
        public const int SENCE_取冰淇淋杯 = 10032;
        public const int SENCE_咖啡杯检测 = 10033;
        public const int SENCE_冰淇淋杯检测 = 10034;
        public const int SENCE_二次取咖啡杯 = 10035;
        public const int SENCE_二次取冰淇淋杯 = 10036;
        public const int SENCE_接咖啡 = 10037;
        public const int SENCE_接冰淇淋公共点 = 10038;
        public const int SENCE_接1号冰淇淋 = 10039;
        public const int SENCE_接2号冰淇淋 = 10040;
        public const int SENCE_接3号冰淇淋 = 10041;
        public const int SENCE_放咖啡位置 = 10042;
        public const int SENCE_放冰淇淋位置 = 10043;

        //add 新加场景
        public const int SENCE_接咖啡_新 = 10051;
        public const int SENCE_咖啡杯回原点 = 10050;
        public const int SENCE_冰淇淋杯回原点 = 10049;
        public const int SENCE_取咖啡出餐 = 10052;
        #endregion
        #region 果汁机设备 MORKT1 JAKA机器人
        public const int JUICE_初始位 = 20000;
        public const int JUICE_取杯 = 20001;
        public const int JUICE_取杯检测 = 20010;
        public const int JUICE_接咖啡 = 20020;
        public const int JUICE_接1号果汁 = 20030;
        public const int JUICE_接2号果汁 = 20040;
        public const int JUICE_接3号果汁 = 20050;
        public const int JUICE_接4号果汁 = 20060;
        public const int JUICE_接茶 = 20070;
        public const int JUICE_接茶水 = 20075;
        public const int JUICE_接水 = 20080;

        public const int JUICE_放咖啡杯 = 20090;
        public const int JUICE_放果汁杯 = 20100;
        public const int JUICE_放茶水杯 = 20110;

        public const int JUICE_放杯 = 20120;
        public const int JUICE_放杯检测 = 20120;
        #endregion

        #region 果汁机设备MORKT2  Lebai机器人
        public const int JUICE2_初始位 = 10021;
        public const int JUICE2_取纸杯 = 10006;
        public const int JUICE2_二次取杯 = 10008;
        public const int JUICE2_纸杯检测 = 10007;
        public const int JUICE2_接咖啡 = 10009;
        public const int JUICE2_放咖啡杯 = 10010;

        public const int JUICE2_接茶叶 = 10017;
        public const int JUICE2_接茶水 = 10018;
        public const int JUICE2_接水 = 10020;
        public const int JUICE2_放水杯 = 10019;

        public const int JUICE2_接果汁公共位 = 10011;
        public const int JUICE2_接1号果汁 = 10012;
        public const int JUICE2_接2号果汁 = 10013;
        public const int JUICE2_接3号果汁 = 10014;
        public const int JUICE2_接4号果汁 = 10015;
        public const int JUICE2_放果汁杯 = 10016;
        #endregion


        private volatile static LebaiHelper _Instance;
        public static LebaiHelper GetInstance => _Instance ?? (_Instance = new LebaiHelper());
        private LebaiHelper() { }
        private LebaiRobotClient client;
        private RobotData robotData;
        public bool IsIdle { get; set; } = false;
        public bool IsConnected { get { return null != robotData; } }

        public void Connect(string ip)
        {
            bool ErrorFlag = false;
            while (robotData == null)
            {
                try
                {
                    client = new LebaiRobotClient(ip);
                    robotData = client.GetRobotData().Result;
                }
                catch (Exception ex)
                {
                    if (!ErrorFlag)
                    {
                        MessageLog.GetInstance.ShowEx(ex.ToString());
                        ErrorFlag = true;
                    }
                    Thread.Sleep(3000);
                }
            }
            StartRobot();
            MessageLog.GetInstance.Show("乐百机器人连接成功！");
        }
        /// <summary>
        /// 机器人重连检测
        /// </summary>
        /// <param name="ip"></param>
        public void Reconnect(string ip)
        {
            if (client == null)
            {
                try
                {
                    client = new LebaiRobotClient(ip);
                }
                catch (Exception)
                {

                   // throw;
                }
            }
            check:
            while (robotData!=null)
            {

                try
                {
                    robotData = client.GetRobotData().Result;
                }
                catch (Exception)
                {
                    robotData = null;
                   // throw;
                }
            }
            MessageLog.GetInstance.Show("乐白机器人断开连接，准备重连");
            int num = 0;
            while (num < 6 && robotData == null)
            {
                try
                {
                   
                    robotData = client.GetRobotData().Result;
                }
                catch (Exception ex)
                {
                    if (num == 5)
                    {
                        MessageLog.GetInstance.ShowEx(ex.ToString());
                    }
                }

                if (num < 5&& robotData==null)
                {
                    Thread.Sleep(1000);
                    MessageLog.GetInstance.Show($"乐白机器人正在尝试第{num+1}次重连....");
                }
                else if(num>=5&&robotData==null)
                {
                    MessageLog.GetInstance.Show("乐白机器人重连失败，请检查硬件连接");
                    //return;
                }
                num++;
            }
            if (robotData!=null)
            {
                StartRobot();
                MessageLog.GetInstance.Show("乐白机器人重连成功");  
            }
            goto check;
        }
        /// <summary>
        /// 获取机器人模式状态
        /// </summary>
        public void GetRobotModeStatus()
        {
            try
            {
                if (robotData == null) return;
                int mode = robotData.RobotMode.Mode;
                IsIdle = mode == 5;
                for (int i = 0; i < 14; i++)
                {
                    if (RTrig.GetInstance(((ELebaiRModel)i).ToString()).Start(mode == i))
                        MessageLog.GetInstance.Show(((ELebaiRModel)i).ToString());
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }

        }

        /// <summary>
        /// 获取机器人速度因子
        /// </summary>
        public void GetSpeed()
        {
            //client.StartSys().GetAwaiter();
            var aa = client.GetActualTcpSpeed().GetAwaiter();
            //robotData.RobotMode.Mode
        }

        /// <summary>
        /// 启动机器人
        /// </summary>
        public async void StartRobot()
        {
            try
            {
                if (robotData != null)
                {
                    await client.StartSys();
                    await client.Sync();
                    MessageLog.GetInstance.Show("机器人启动成功");
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }


        }

        /// <summary>
        /// 启动示教
        /// </summary>
        public async void StartTeachMode()
        {
            try
            {
                if (robotData != null)
                {
                    await client.TeachMode();
                    MessageLog.GetInstance.Show("机器人切换为示教模式.");
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
        }

        /// <summary>
        /// 结束示教
        /// </summary>
        public async void EndtTeachMode()
        {
            try
            {
                if (robotData != null)
                {
                    await client.EndTeachMode();
                    MessageLog.GetInstance.Show("机器人切换为停止示教模式.");
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
        }

        /// <summary>
        /// 机器人急停
        /// </summary>
        public async void EStopRobot()
        {
            try
            {
                if (robotData != null)
                {
                    await client.EStop();
                    MessageLog.GetInstance.Show("机器人急停");
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
        }


        /// <summary>
        /// 获取抓手重量
        /// </summary>
        /// <returns></returns>
        public double GetClawWdight()
        {
            if (robotData != null)
            {
                return client.GetClawWeight().Result.Weight_;
            }
            return 0;
        }

        /// <summary>
        /// 获取信号量
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public SignalResult GetValueAsync(int index = 0)
        {
            try
            {
                if (robotData == null) return default(SignalResult);
                SignalValue signalValue = new SignalValue();
                signalValue.Index = index;
                return client?.GetSignal(signalValue).Result;
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
            return default(SignalResult);
        }

        /// <summary>
        /// 设置信号量
        /// </summary>
        /// <param name="index"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public SignalResult SetValue(int value, int index = 0)
        {
            try
            {
                if (robotData == null) return default(SignalResult);
                SignalValue signalValue = new SignalValue();
                signalValue.Index = index;
                signalValue.Value = value;
                return client.SetSignal(signalValue).Result;
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
            return default(SignalResult);
        }

        /// <summary>
        /// 获取输入DI状态
        /// </summary>
        /// <param name="pin"></param>
        /// <returns></returns>
        public bool GetInput(int pin = 0)
        {
            try
            {
                if (client == null) return false;
                var res = client.GetDIO(new IOPin() { Pin = pin }).Result;
                if (res != null)
                {
                    return res.Value == 1 ? true : false;
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
            return false;
        }
        public bool GetTcpInput(int pin =1)
        {
            try
            {
                if (client == null) return false;
                var res = client.GetTcpDIO(new IOPin() { Pin = pin }).Result;
                if (res != null)
                {
                    return res.Value == 1 ? true : false;
                }
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
            return false;
        }
        /// <summary>
        /// 设置DO输出
        /// </summary>
        /// <param name="pin"></param>
        /// <returns></returns>
        public void SetOutput(bool bDO, int pin = 0)
        {
            try
            {
                if (client == null) { return; }
                var res = client.SetDIO(new DIO() { Pin = pin , Value=bDO?1:0});
                
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }
        }
        /// <summary>
        /// 运行指定的场景
        /// </summary>
        /// <param name="id"></param>
        public async void Scene(int id)
        {
            try
            {
                CancellationToken cancellationToken = default(CancellationToken);
                var result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
                var first = result?.Items?.FirstOrDefault();
                var r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != Lebai.SDK.Dtos.TaskStatus.Pause;
                while (!r)
                {
                    Thread.Sleep(5);
                    result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
                    first = result?.Items?.FirstOrDefault();
                    r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != Lebai.SDK.Dtos.TaskStatus.Pause;
                }
                while (GetValueAsync().Value != 0)
                {
                    Thread.Sleep(500);
                }
                Thread.Sleep(1000);
                if (robotData == null || client == null) return;
                //if (!client.GetIsCanRunTask().Result) return;
                await client?.RunScene(id);
                MessageLog.GetInstance.Show($"调用场景：{id}");
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx(ex.ToString());
            }

        }
    }
}