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;

        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！");
        }

        public void GetRobotModeStatus()
        {
            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());
            }
        }
        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()
        {
            if (robotData != null)
            {
                await client.StartSys();
                await client.Sync();
                MessageLog.GetInstance.Show("机器人启动成功");
            }
        }

        /// <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)
        {
            if (robotData == null) return default(SignalResult);
            SignalValue signalValue = new SignalValue();
            signalValue.Index = index;
            return client?.GetSignal(signalValue).Result;
        }

        /// <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)
        {
            if (robotData == null) return default(SignalResult);
            SignalValue signalValue = new SignalValue();
            signalValue.Index = index;
            signalValue.Value = value;
            return client.SetSignal(signalValue).Result;
        }

        public bool GetInput(int pin=0)
        {
            if (client == null) return false;
            var res =  client.GetDIO(new IOPin() { Pin=pin}).Result;
            if (res != null)
            {
                return res.Value == 1 ? true : false;
            }
            //int a = res.Value;
            return false;
        }

        /// <summary>
        /// 运行指定的场景
        /// </summary>
        /// <param name="id"></param>
        public void Scene(int id)
        {
            if (robotData == null || client == null) return;
            if (!client.GetIsCanRunTask().Result) return;

            client?.RunScene(id);
            //var r =  client.RunSceneUntilDone(id).Result;

            //var res =  client.GetTask(id).Result;
            //var res1 = GetValueAsync().Value;
            //while (res1!=id)
            //{
            //    client?.RunScene(id);
            //    Thread.Sleep(100);
            //}
            //SetValue(1000);



        }
    }
}