using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Drawing;
using System.Net.NetworkInformation;
using System.Data;
using System.Threading;
using Agv_Info;
using BllSql;
using AGVSystem.A17168;
//using Agv_Control;

namespace AGVSystem
{
    public class Func
    {
        /// <summary>
        /// 表示每个AGV的btn
        /// </summary>
        //public static AgvLib.HxAgv[] AgvBtn;
        public static AgvCar.Agv[] agvcar;
        public static Cls.AgvInfo[] AgvInfo;

        public static ClsDBConn_sql db_conn = new ClsDBConn_sql();

        public static BllBase bBllBase = new BllBase();

        /// <summary>
        ///AGV位置变更时，记录位置信息的Temp 
        /// </summary>
        public static int[] Agv_Location_Temp;

        /// <summary>
        /// 创建地标容器
        /// </summary>
        /// <param name="id">地标编号</param>
        /// <param name="b">1.左端(后退) 2.右端(前进) 3.顶部(向上) 4.底部(向下)</param>
        /// <param name="x">容器放置坐标x</param>
        /// <param name="y">容器放置坐标y</param>        
        /// 

        public static void CreatePanelLocation(string id, int direction, int x, int y, int area, string Assembly_ID)
        {
            Panel pl = new Panel();
            if (area == 1)
            {
                pl.Parent = mainfrm.Map1;
            }
            else if (area == 2)
            {
                pl.Parent = mainfrm.Map2;
            }
            else
            {
                pl.Parent = mainfrm.Map3;
            }
            pl.BackColor = Color.Transparent;
            Label lab = new Label();

            //Button lab = new Button();
            lab.Visible = Cls.Param.Location_ID_Dispaly;
            lab.Text = id;
            if (Assembly_ID != "0" || Assembly_ID != "")
            {
                lab.Tag = Assembly_ID + "-" + id;
                lab.DoubleClick += new System.EventHandler(Cls.Path_Reset.label12_DoubleClick);
                lab.MouseClick += new MouseEventHandler(label_MouseClick);
            }
            else if (Cls.Param.Display_CrossID == false)
            {
                lab.ForeColor = Color.Black;
            }
            lab.AutoSize = false;
            lab.Height = Cls.Param.Icon_Size;
            lab.Width = Cls.Param.Icon_Size;

            pl.Width = Cls.Param.Icon_Size;
            pl.Height = Cls.Param.Icon_Size;
            lab.Parent = pl;
            lab.BackColor = Color.Transparent;
            lab.Font = new Font("宋体", 9, FontStyle.Regular);
            lab.TextAlign = ContentAlignment.MiddleCenter;
            if (direction == 1)
            {
                pl.Location = new Point(x, y - Cls.Param.Icon_Size / 2);
                pl.Tag = id + "-" + "1";
                lab.Dock = DockStyle.Left;
            }
            else if (direction == 2)
            {
                pl.Location = new Point(x, y - Cls.Param.Icon_Size / 2);
                pl.Tag = id + "-" + "2";
                lab.Dock = DockStyle.Left;
            }
            else if (direction == 3)
            {
                pl.Location = new Point(x - Cls.Param.Icon_Size / 2, y);
                pl.Tag = id + "-" + "3";
                lab.Dock = DockStyle.Top;
            }
            else if (direction == 4)
            {
                pl.Location = new Point(x - Cls.Param.Icon_Size / 2, y);
                pl.Tag = id + "-" + "4";
                lab.Dock = DockStyle.Top;
            }
        }

        public static int loc_flag = 0;
        private static void label_MouseClick(object sender, MouseEventArgs e)
        {
            if (e.Button == System.Windows.Forms.MouseButtons.Right)
            {
                loc_flag = Convert.ToInt16(((Label)sender).Text);
            }
        }


        private static object obj_dgvupdate = new object();
        public static void DgvUpdate(DataGridView dgv, int row, string columnname, bool value)
        {
            lock (obj_dgvupdate)
            {
                dgvUpdate(dgv, row, columnname, value);
            }
        }
        private static void dgvUpdate(DataGridView dgv, int row, string columnname, bool value)
        {
            dgv.Rows[row].Cells[columnname].Value = value;
            if (columnname == "Status")
            {
                if (value)
                {
                    dgv.Rows[row].DefaultCellStyle.ForeColor = Color.Red;
                }
                else
                {
                    dgv.Rows[row].Cells["联网状态"].Value = value;
                    dgv.Rows[row].DefaultCellStyle.ForeColor = Color.Gray;
                }
            }
            else if (columnname == "联网状态")
            {
                if (value)
                {
                    dgv.Rows[row].DefaultCellStyle.ForeColor = Color.Black;
                }
                else
                {
                    dgv.Rows[row].DefaultCellStyle.ForeColor = Color.Red;
                }
            }
        }

        private static object obj_AgvIpToId = new object();
        public static int AgvIpToId(string IP)
        {
            lock (obj_AgvIpToId)
            {
                string ip = IP;
                int ID = 0; ;
                DataView rowfilter = new DataView(mainfrm.ds_Agvlist.Tables[0]);
                rowfilter.RowFilter = "IPAddress='" + ip + "'";
                rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                DataTable dt = rowfilter.ToTable();
                try
                {
                    ID = Convert.ToInt16(dt.Rows[0]["ID"].ToString());
                }
                catch
                {
                }
                return ID;
            }
        }

        private static int run_time;
        private static int run_model;
        private static int next_loc = 0;
        /// <summary>
        /// 显示AGV位置状态
        /// </summary>
        /// <param name="agv_id">AGV编号</param>
        /// <param name="run_status">运动状态：运行/停止</param>
        /// <param name="warn_level">报警等级</param>
        /// <param name="current_location">当前位置</param>
        /// <param name="map_id">所属地图编号</param>
        /// <param name="run_fx">运动方向：直行/左转/右转</param>
        public static void Agv_Car_Status(int agv_id,
                                        bool run_status,
                                        int warn_level,
                                        int current_location,
                                        int map_id,
                                        int run_fx)
        {
            try
            {
                Func.agvcar[agv_id - 1].Car_Warn_Level = warn_level;

                if (current_location != Agv_Location_Temp[agv_id - 1])
                {
                    Func.agvcar[agv_id - 1].Run_Status = false;
                    Agv_Location_Temp[agv_id - 1] = current_location;
                }
                else
                {
                    Func.agvcar[agv_id - 1].Run_Status = run_status;
                }

                if (current_location == 0) return;
                run_time = 0;
                run_model = 0;
                next_loc = 0;
                Panel pl_new_parent = new Panel();//xin panel
                Panel pl_old_parent = new Panel();//jiu panel
                Panel parent_pnl = new Panel();

                if (map_id == 1)
                {
                    parent_pnl = mainfrm.Map1;
                }
                else if (map_id == 2)
                {
                    parent_pnl = mainfrm.Map2;
                }
                else
                {
                    parent_pnl = mainfrm.Map3;
                }

                foreach (System.Windows.Forms.Control ctl in parent_pnl.Controls)
                {
                    if (ctl.GetType().Name == "Panel")
                    {
                        if (Convert.ToInt16(ctl.Tag.ToString().Split('-')[0]) == current_location)
                        {
                            pl_new_parent = (Panel)ctl;

                            //AGV移动到新的管控停止位
                            if (pl_new_parent != (Panel)Func.agvcar[agv_id - 1].Parent && !Func.agvcar[agv_id - 1].Run_Status)
                            {
                                Func.agvcar[agv_id - 1].Refresh();
                                pl_old_parent = (Panel)Func.agvcar[agv_id - 1].Parent;
                                Func.agvcar[agv_id - 1].Parent = pl_new_parent;
                                Func.agvcar[agv_id - 1].BringToFront();
                                if (pl_new_parent.Tag.ToString().Split('-')[1] == "1")
                                {
                                    Func.agvcar[agv_id - 1].Dock = DockStyle.Left;
                                }
                                else if (pl_new_parent.Tag.ToString().Split('-')[1] == "2")
                                {
                                    Func.agvcar[agv_id - 1].Dock = DockStyle.Right;
                                }
                                else if (pl_new_parent.Tag.ToString().Split('-')[1] == "3")
                                {
                                    Func.agvcar[agv_id - 1].Dock = DockStyle.Top;
                                }
                                else if (pl_new_parent.Tag.ToString().Split('-')[1] == "4")
                                {
                                    Func.agvcar[agv_id - 1].Dock = DockStyle.Bottom;
                                }
                            }

                            //AGV从停止位出发
                            else if (pl_new_parent == (Panel)Func.agvcar[agv_id - 1].Parent &&
                                Func.agvcar[agv_id - 1].Run_Status)
                            {
                                if (Func.agvcar[agv_id - 1].Parent != parent_pnl)
                                {
                                    pl_old_parent = (Panel)Func.agvcar[agv_id - 1].Parent;
                                    Func.agvcar[agv_id - 1].Dock = DockStyle.None;
                                    Func.agvcar[agv_id - 1].Parent = parent_pnl;
                                    string ss = parent_pnl.Name;

                                    Func.agvcar[agv_id - 1].Location = pl_old_parent.Location;
                                    Func.agvcar[agv_id - 1].BringToFront();

                                    nextStation(Convert.ToInt16((Func.agvcar[agv_id - 1].Tag.ToString().Split('-'))[1]), current_location, run_fx, out run_time, out run_model, out next_loc);
                                    Func.agvcar[agv_id - 1].TimeLong = run_time;
                                    Func.agvcar[agv_id - 1].Run_Model = run_model;
                                    if (next_loc != 0)
                                    {
                                        foreach (System.Windows.Forms.Control c in parent_pnl.Controls)
                                        {
                                            if (c.GetType().Name == "Panel")
                                            {
                                                if (Convert.ToInt16(c.Tag.ToString().Split('-')[0]) == next_loc)
                                                {
                                                    Func.agvcar[agv_id - 1].NextLocation = c.Location;
                                                    return;
                                                }
                                            }
                                        }
                                    }

                                }
                            }

                        }
                    }
                }
                //以下设置新容器大小
                int i = 0;
                foreach (System.Windows.Forms.Control ctl in pl_new_parent.Controls)
                {
                    i = i + Cls.Param.Icon_Size;
                }
                if (pl_new_parent.Tag != null && (pl_new_parent.Tag.ToString().Split('-')[1] == "3" || pl_new_parent.Tag.ToString().Split('-')[1] == "4"))
                {
                    pl_new_parent.Height = i;
                }
                else
                {
                    pl_new_parent.Width = i;
                }
            }catch(Exception ex)
            {

            }

        }

        /// <summary>
        /// 获取下一个站点
        /// </summary>
        /// <param name="Assembly_ID">线体编号</param>
        /// <param name="Landmark_ID">位置编号</param>
        /// <param name="flag">区分</param>
        /// <param name="p">返回下一个站点坐标</param>
        /// <param name="run_time">返回到下一个站点的时间</param>
        /// <param name="run_model">返回AGV图标运动模式</param>
        private static void nextStation(int Assembly_ID, int Landmark_ID, int flag, out int run_time1, out int run_model1, out int next_loc1)
        {
            run_time1 = 0;
            run_model1 = 0;
            next_loc1 = 0;
            DataView rowfilter = new DataView(mainfrm.ds_linelandmark.Tables[0]);
            rowfilter.RowFilter = "Assembly_Line=" + Assembly_ID + " and LOC_ID= " + Landmark_ID;
            rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
            DataTable dt = rowfilter.ToTable();
            try
            {
                if (dt.Rows.Count == 1)
                {
                    if (flag == 1)
                    {
                        next_loc1 = Convert.ToInt16(dt.Rows[0]["Next_Station1"]);
                        run_time1 = Convert.ToInt16(dt.Rows[0]["LongTime1"]);
                        run_model1 = Convert.ToInt16(dt.Rows[0]["Drict1"]);
                    }
                    else if (flag == 2)
                    {
                        next_loc1 = Convert.ToInt16(dt.Rows[0]["Next_Station1"]);
                        run_time1 = Convert.ToInt16(dt.Rows[0]["LongTime2"]);
                        run_model1 = Convert.ToInt16(dt.Rows[0]["Drict2"]);
                    }
                    else if (flag == 3)
                    {
                        next_loc1 = Convert.ToInt16(dt.Rows[0]["Next_Station1"]);
                        run_time1 = Convert.ToInt16(dt.Rows[0]["LongTime2"]);
                        run_model1 = Convert.ToInt16(dt.Rows[0]["Drict2"]);
                    }
                }
            }
            catch
            {

            }
        }

        /// <summary>
        /// AGV实时故障显示
        /// </summary>
        /// <param name="del_agv_no"></param>
        /// <param name="Assembly_Name"></param>
        /// <param name="Assembly_Id"></param>
        /// <param name="AGV_Internal_No"></param>
        /// <param name="AlarmInfo"></param>
        /// <param name="agv_no"></param>
        public static void Agv_Alarm_Insert(int del_agv_no, string Assembly_Name, string Assembly_Id, int AGV_Internal_No, string AlarmInfo, int agv_no)
        {
            lock (obj_agv_alarm_insert)
            {
                agv_alarm_insert(del_agv_no, Assembly_Name, Assembly_Id, AGV_Internal_No, AlarmInfo, agv_no);
            }
        }
        private static object obj_agv_alarm_insert = new object();
        private static void agv_alarm_insert(int del_agv_no, string Assembly_Name, string Assembly_Id, int AGV_Internal_No, string AlarmInfo, int agv_no)
        {
            if (del_agv_no == 0)
            {
                bool update_flag = false;
                if (mainfrm.ds_AgvWarn.Tables[0].Rows.Count > 0)
                {
                    for (int i = 0; i < mainfrm.ds_AgvWarn.Tables[0].Rows.Count; i++)
                    {
                        if (Convert.ToInt16(mainfrm.ds_AgvWarn.Tables[0].Rows[i][3].ToString()) == agv_no &&
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString().Trim() == AlarmInfo.Trim())
                        {
                            //ds_aGVWarn.Tables[0].Rows[i][0] = DateTime.Now.ToString();
                            //ds_aGVWarn.Tables[0].Rows[i][1] = Assembly_Id;
                            //ds_aGVWarn.Tables[0].Rows[i][2] = Assembly_Name;
                            //ds_aGVWarn.Tables[0].Rows[i][3] = agv_no;
                            //ds_aGVWarn.Tables[0].Rows[i][4] = AGV_Internal_No;
                            //ds_aGVWarn.Tables[0].Rows[i][5] = AlarmInfo;
                            //update_flag = true;                            
                            return;
                        }
                    }
                }
                if (!update_flag)
                {
                    DataRow dr = mainfrm.ds_AgvWarn.Tables[0].NewRow();
                    dr[0] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");// 时间 
                    dr[1] = Assembly_Id;   // 线体编号 
                    dr[2] = Assembly_Name;  // 线体名称 
                    dr[3] = agv_no;  // 设备编号 
                    dr[4] = AGV_Internal_No;  // 内部编号
                    dr[5] = AlarmInfo;  // 报警信息
                    mainfrm.ds_AgvWarn.Tables[0].Rows.Add(dr);
                }
            }
            else
            {
                for (int i = 0; i < mainfrm.ds_AgvWarn.Tables[0].Rows.Count; i++)
                {
                    if (AlarmInfo == "正常")
                    {
                        if (Convert.ToInt16(mainfrm.ds_AgvWarn.Tables[0].Rows[i][3]) == del_agv_no)
                        {
                            if (!mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString().Contains("障碍物"))
                            {
                                Warn_Log warn_Log = new Warn_Log(mainfrm.ds_AgvWarn.Tables[0].Rows[i][0].ToString(), mainfrm.ds_AgvWarn.Tables[0].Rows[i][3].ToString(),
                                    mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString(), DateTime.Now.ToString());
                                UPDateDBList.upDbList.Add(warn_Log);
                            }
                            mainfrm.ds_AgvWarn.Tables[0].Rows.RemoveAt(i);
                            i--;
                        }
                    }
                    else
                    {
                        if (Convert.ToInt16(mainfrm.ds_AgvWarn.Tables[0].Rows[i][3]) == del_agv_no &&
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString() == AlarmInfo)
                        {
                            if (!mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString().Contains("障碍物"))
                            {
                                //db_conn.Command("INSERT INTO [Warn_Log] ([Dt] ,[Agv_id] ,[Type] ,[Reset]) VALUES ('" +
                                //    mainfrm.ds_AgvWarn.Tables[0].Rows[i][0] + "'," + mainfrm.ds_AgvWarn.Tables[0].Rows[i][3] + ",'" + mainfrm.ds_AgvWarn.Tables[0].Rows[i][5] + "','" + DateTime.Now.ToString() + "')");

                                Warn_Log warn_Log = new Warn_Log(mainfrm.ds_AgvWarn.Tables[0].Rows[i][0].ToString(), mainfrm.ds_AgvWarn.Tables[0].Rows[i][3].ToString(),
                                    mainfrm.ds_AgvWarn.Tables[0].Rows[i][5].ToString(), DateTime.Now.ToString());
                                UPDateDBList.upDbList.Add(warn_Log);
                            }
                            mainfrm.ds_AgvWarn.Tables[0].Rows.RemoveAt(i);
                            i--;
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="Assembly_Name"></param>
        /// <param name="Assembly_Id"></param>
        /// <param name="AGV_Internal_No"></param>
        /// <param name="LandMark"></param>
        /// <param name="Info"></param>
        /// <param name="agv_no"></param>
        public static void CrossInfo_Insert(string Assembly_Name,
                                            string Assembly_Id,
                                            int AGV_Internal_No,
                                            int LandMark,
                                            string Info,
                                            int agv_no,
                                            int plc_value,
                                            int internal_id,
                                            int line_id,
                                            string line_name)
        {
            lock (obj_crossinfo_insert1)
            {
                crossInfo_Insert(Assembly_Name, Assembly_Id, AGV_Internal_No, LandMark, Info, agv_no, plc_value, internal_id, line_id, line_name);
            }
        }
        private static object obj_crossinfo_insert1 = new object();
        public static void crossInfo_Insert(string Assembly_Name,
                                            string Assembly_Id,
                                            int AGV_Internal_No,
                                            int LandMark,
                                            string Info,
                                            int agv_no,
                                            int plc_value,
                                            int internal_id,
                                            int line_id,
                                            string line_name)
        {
            string strsql = "";
            strsql = "INSERT INTO [Go_Log] ([Dt] ,[Agv_id] ,[Type] ,[Location],[plc_value] ,[Internal_ID],[Line_ID] ,[Line_Name])  VALUES " +
                "('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "'," +
                agv_no + ",'" +
                Info + "'," +
                LandMark + "," +
                plc_value + "," +
                internal_id + "," +
                line_id + ",'" +
                line_name + "')";
            db_conn.Command(strsql);
        }
        ///// <summary>
        ///// 
        ///// </summary>
        ///// <param name="Assembly_Name"></param>
        ///// <param name="Assembly_Id"></param>
        ///// <param name="AGV_Internal_No"></param>
        ///// <param name="LandMark"></param>
        ///// <param name="Info"></param>
        ///// <param name="agv_no"></param>
        public static void CrossInfo_Insert(string Assembly_Name, string Assembly_Id, int AGV_Internal_No, int LandMark, string Info, int agv_no, int plc_value)
        {
            UPDateDBList.upDbList.Add(new CrossInfo_Insert(DateTime.Now, Assembly_Name, Assembly_Id, AGV_Internal_No, LandMark, Info, agv_no, plc_value));
        }
        private static object obj_crossinfo_insert = new object();

        private static object obj_GetLandMarkId = new object();
        /// <summary>
        /// 根据地标值读取地标编号
        /// </summary>
        /// <param name="value"></param>
        /// <returns></returns>
        public static int GetLandMarkId(int assemblyline_id, int value)
        {
            lock (obj_GetLandMarkId)
            {
                int markid = 0;
                DataView rowfilter = new DataView(mainfrm.ds_linelandmark.Tables[0]);
                rowfilter.RowFilter = "Flag_Value=" + value + " and Assembly_Line= " + assemblyline_id;
                rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                DataTable dt = rowfilter.ToTable();
                try
                {
                    if (dt.Rows.Count > 0)
                        markid = Convert.ToInt16(dt.Rows[0]["Loc_ID"].ToString());
                }
                catch
                {
                }
                return markid;
            }
        }

        private static object obj_change = new object();
        public static void Change_Rec(int agv_id, int current_loc, int histroy_loc, DateTime dt, int internal_id, int line_id, string line_name)
        {
            lock (obj_change)
            {
                if (mainfrm.ds_Change.Tables[0].Rows.Count == 0) return;
                if (histroy_loc == 0) return;

                bool current_loc_res = false;
                bool histroy_loc_res = false;
                if (mainfrm.ds_Change.Tables[0].Rows.Count > 0)
                {
                    foreach (DataRow dr in mainfrm.ds_Change.Tables[0].Rows)
                    {
                        if (Convert.ToInt16(dr[0].ToString()) == current_loc)
                        {
                            current_loc_res = true;
                            return;
                        }
                        if (Convert.ToInt16(dr[0].ToString()) == histroy_loc)
                        {
                            histroy_loc_res = true;
                        }
                    }
                    if (current_loc_res == false && histroy_loc_res == true)
                    {
                        db_conn.Command("INSERT INTO [Change_Log]([Agv_ID] ,[Start_time],[Finish_time] ,[Location_ID],internal_id, line_id, line_name)  VALUES(" +
                              agv_id + ",'" +
                              dt + "','" +
                              DateTime.Now.ToString() + "'," +
                              histroy_loc + "," +
                              internal_id + "," +
                              line_id + ",'" +
                              line_name + "')");
                    }
                }
            }
        }
        private static object obj_change1 = new object();
        public static void Change_Rec(int agv_id, int current_loc, int histroy_loc, DateTime dt)
        {
            lock (obj_change1)
            {
                if (mainfrm.ds_Change.Tables[0].Rows.Count == 0) return;
                if (histroy_loc == 0) return;

                bool current_loc_res = false;
                bool histroy_loc_res = false;
                if (mainfrm.ds_Change.Tables[0].Rows.Count > 0)
                {
                    foreach (DataRow dr in mainfrm.ds_Change.Tables[0].Rows)
                    {
                        if (Convert.ToInt16(dr[0].ToString()) == current_loc)
                        {
                            current_loc_res = true;
                            return;
                        }
                        if (Convert.ToInt16(dr[0].ToString()) == histroy_loc)
                        {
                            histroy_loc_res = true;
                        }
                    }
                    if (current_loc_res == false && histroy_loc_res == true)
                    {
                        db_conn.Command("INSERT INTO [Change_Log]([Agv_ID] ,[Start_time],[Finish_time] ,[Location_ID])  VALUES(" +
                              agv_id + ",'" + dt + "','" + DateTime.Now.ToString() + "'," + histroy_loc + ")");
                    }
                }
            }
        }



    }
}