using IMCS.DefaultList;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace IMCS.Device
{
    public class DeviceAGV
    {
        /*单例模式*/

        public DeviceAGV()
        {

        }
        /// <summary>
        /// 当前任务编号
        /// </summary>
        public string reqCode { get; set; }
        /*生成任务单*/

        /// <summary>
        /// 生成任务订单
        /// </summary>
        /// <param name="taskType">任务类型</param>
        /// <param name="startPosition">起点坐标</param>
        /// <param name="startType">起点类型</param>
        /// <param name="endPosition">终点坐标</param>
        /// <param name="endType">终点类型</param>
        public AGVRequestDefaultList AGV_SendTask(string taskType, string startPosition, string startType, string endPosition, string endType)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().ToString().Substring(0, 30);
            reqCode = aGVRequestDefaultList.reqCode;
            aGVRequestDefaultList.taskTyp = taskType;// "F01";
            aGVRequestDefaultList.positionCodePath = new List<DefaultList.AGVPositionCodePathList>() { new DefaultList.AGVPositionCodePathList() {
               // positionCode="p001", type="02"
               positionCode=startPosition, type=startType
            },
            new DefaultList.AGVPositionCodePathList(){ positionCode=endPosition, type=endType }
            };

            //aGVRequestDefaultList.tokenCode = "";

            //aGVRequestDefaultList.ctnrTyp = "";
            //aGVRequestDefaultList.ctnrCode = "";
            //aGVRequestDefaultList.wbCode = "";
            //aGVRequestDefaultList.positionCodePath = new List<DefaultList.AGVPositionCodePathList>() { new DefaultList.AGVPositionCodePathList() { positionCode="p001", type="02" } };
            //aGVRequestDefaultList.podCode = "";
            //aGVRequestDefaultList.podDir = "";
            //aGVRequestDefaultList.podTyp = "-1";
            //aGVRequestDefaultList.materialLot = "";
            //aGVRequestDefaultList.priority = "1";
            //aGVRequestDefaultList.agvCode = "";
            //aGVRequestDefaultList.taskCode = "";
            //aGVRequestDefaultList.data = "";

            return aGVRequestDefaultList;
        }

        /* 继续执行任务*/
        /// <summary>
        /// 继续执行任务
        /// </summary>
        /// <param name="reqCode">继续执行的任务id</param>
        public AGVRequestDefaultList AGV_ContinuTask(string reqCode)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            return aGVRequestDefaultList;

        }

        /*取消任务*/
        /// <summary>
        /// 取消任务
        /// </summary>
        /// <param name="reqCode">需要取消的任务ID</param>
        public AGVRequestDefaultList AGV_CancelTask(string reqCode)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            return aGVRequestDefaultList;

        }

        /*任务执行通知*/
        /// <summary>
        /// 任务执行通知
        /// </summary>
        /// <param name="taskcode">当前任务编号</param>
        /// <param name="currentPositionCode">当前位置编号
        ///任务开始：该位置为任务起点
        ///走出储位：该位置为任务起点
        ///任务单取消：该位置为工作位编号
        ///任务结束：该位置为任务终点</param>
        /// <param name="method">方法名, 可使用任务类型做为方法
        ///名由 RCS-2000 任务模板配置后并告知上层系统
        ///默认使用方式:
        ///RCS-2000 接口协议 对外发布
        ///start : 任务开始
        ///outbin : 走出储位
        ///end : 任务结束
        ///cancel : 任务单取消</param>
        /// <param name="robotCode">AGV 编号（同 agvCode </param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_agvCallback(string taskcode, string currentPositionCode, string method, string robotCode)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            aGVRequestDefaultList.reqTime = DateTime.Now.DateTimeToString();
            aGVRequestDefaultList.currentPositionCode = currentPositionCode;
            aGVRequestDefaultList.method = method;
            aGVRequestDefaultList.robotCode = robotCode;
            aGVRequestDefaultList.taskCode = taskcode;
            return aGVRequestDefaultList;
        }

        /*任务优先级设置*/

        /// <summary>
        /// 任务优先级设置
        /// </summary>
        /// <param name="taskCode">当前需要设置优先级的任务id</param>
        /// <param name="priority">当前任务优先级1-127 值越大,等级越高</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_setTaskPriority(string taskCode, string priority)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            aGVRequestDefaultList.priority = new List<AGVPrioritiesList>() { new AGVPrioritiesList() { taskCode = taskCode, priority = priority } };
            return aGVRequestDefaultList;
        }
        /// <summary>
        /// 任务优先级设置
        /// </summary>
        /// <param name="priorities">当前所需调整优先级的列表</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_setTaskPriority(List<AGVPrioritiesList> priorities)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            aGVRequestDefaultList.priority = priorities;
            return aGVRequestDefaultList;
        }


        /*货架与位置绑定,解绑*/

        /// <summary>
        /// 货架与位置绑定,解绑
        /// </summary>
        /// <param name="reqCode">任务编号</param>
        /// <param name="podCode">货架编号</param>
        /// <param name="positionCode">位置编号，地图位置的别名，能任
        ///意命名(字母+数字)，但要唯一，由
        ///RCS-2000 界面配置。</param>
        /// <param name="agv_Enable">绑定或解绑</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_bindPodAndBerth(string reqCode, string podCode, string positionCode, bool agv_Enable)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            aGVRequestDefaultList.podCode = podCode;
            aGVRequestDefaultList.positionCode = positionCode;
            aGVRequestDefaultList.indBind = agv_Enable.BoolToInt().ToString();
            return aGVRequestDefaultList;
        }


        /// <summary>
        /// 货架与物料绑定、解绑
        /// </summary>
        /// <param name="reqCode">任务编号</param>
        /// <param name="podCode">货架编号</param>
        /// <param name="materialLot">物料批次</param>
        /// <param name="agv_Enable">绑定或解绑</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_bindPodAndMat(string reqCode, string podCode, string materialLot, bool agv_Enable)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            aGVRequestDefaultList.podCode = podCode;
            aGVRequestDefaultList.materialLot = materialLot;
            aGVRequestDefaultList.indBind = agv_Enable.BoolToInt().ToString();
            return aGVRequestDefaultList;
        }

        /*位置禁用与启用*/

        /// <summary>
        /// 
        /// </summary>
        /// <param name="reqCode">需要取消的任务ID</param>
        /// <param name="positionCode">位置编号,地图位置别名,</param>
        /// <param name="agv_Enable">是否启用</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_lockPosition(string reqCode, string positionCode, bool agv_Enable)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            aGVRequestDefaultList.positionCode = positionCode;
            aGVRequestDefaultList.indBind = agv_Enable.BoolToInt().ToString();
            return aGVRequestDefaultList;

        }

        /*地图位置信息同步*/

        /*查询货架存储位与物料批次关系*/
        /// <summary>
        /// 查询货架存储位与物料批次关系
        /// </summary>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_queryPodBerthAndMat()
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            return aGVRequestDefaultList;
        }


        /*容器与仓位绑定,解绑*/
        /// <summary>
        /// 
        /// </summary>
        /// <param name="ctnrCode">容器类型</param>
        /// <param name="agv_Enable">是否启用,绑定为ture,解绑为false</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_bindCtnrAndBin(string ctnrCode, bool agv_Enable)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            aGVRequestDefaultList.indBind = agv_Enable.BoolToInt().ToString();
            return aGVRequestDefaultList;
        }

        /*查询任务状态*/

        /// <summary>
        /// 查询任务状态
        /// </summary>
        /// <param name="reqCode">需要查询的任务id</param>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_queryTaskStatus(string reqCode)
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = reqCode;
            return aGVRequestDefaultList;
        }

        /*查询AGV状态*/
        /// <summary>
        /// 查询AGV状态
        /// </summary>
        /// <returns></returns>
        public AGVRequestDefaultList AGV_queryAgvStatus()
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            return aGVRequestDefaultList;
        }

        /*停止AGV*/
        public AGVRequestDefaultList AGV_stopRobot()
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            return aGVRequestDefaultList;
        }

        /*恢复AGV*/
        public AGVRequestDefaultList AGV_resumeRobot()
        {
            IMCS.DefaultList.AGVRequestDefaultList aGVRequestDefaultList = new DefaultList.AGVRequestDefaultList();
            aGVRequestDefaultList.reqCode = Guid.NewGuid().GuidLeng();
            return aGVRequestDefaultList;
        }

        /*告警推送通知*/

        /*绑定解绑通知*/

        /**/
    }
}