using System;
using System.Linq;
using SimpleCore.Library;
using StandardScene.Signal.Model;

namespace StandardScene.Signal.Plc
{
    /// <summary>
    /// PLC 字节含义转换，以及按机构类型自动推进离站状态机。对齐反编译 <c>PLCManager</c>。
    /// </summary>
    /// <remarks>
    /// 由 <see cref="PlcStationWorker"/> 每 200ms 在已持有 <see cref="PlcStationRuntime.Sync"/> 时调用。
    /// 写字节含义见 <see cref="SignalWriteValue"/>：无状态 → 进入中 → 到位 → 离开中 → 已离开 → 清零。
    /// 「已离开」可由本侧写成功，或 PLC 回读写值变成已离开（对方清过）触发清空。
    /// </remarks>
    public static class PlcStationLogic
    {
        /// <summary>PLC 读字节 → 调度侧枚举。仅 1=允许进入、2=允许离开，其余当无状态。</summary>
        public static SignalReadValue ConvertRead(byte val) => val switch
        {
            1 => SignalReadValue.允许进入,
            2 => SignalReadValue.允许离开,
            _ => SignalReadValue.无状态
        };

        /// <summary>PLC 写地址回读字节 → 调度侧枚举。1~4 对应进入中/到位/离开中/已离开。</summary>
        public static SignalWriteValue ConvertWrite(byte val) => val switch
        {
            1 => SignalWriteValue.进入中,
            2 => SignalWriteValue.到位,
            3 => SignalWriteValue.离开中,
            4 => SignalWriteValue.已离开,
            _ => SignalWriteValue.无状态
        };

        /// <summary>
        /// 判断站点是否落在机构配置的包含列表里。
        /// 列表支持逗号、分号、空格分隔，与 JSON 里 <c>JgInContains</c> / <c>JgContains</c> 一致。
        /// </summary>
        public static bool ContainsSite(string csv, int siteId)
        {
            if (string.IsNullOrWhiteSpace(csv) || siteId <= 0)
                return false;
            return csv.Split(new[] { ',', ';', ' ' }, StringSplitOptions.RemoveEmptyEntries)
                .Any(s => int.TryParse(s.Trim(), out var n) && n == siteId);
        }

        /// <summary>按 <see cref="PlcStationModel.LineType"/> 分发四套离站逻辑；未知类型不处理。</summary>
        public static void AutoLeave(PlcStationRuntime rt)
        {
            if (rt?.Station == null || rt.Dock == null) return;
            switch (rt.Station.LineType)
            {
                case SignalLineType.上线机构:
                    AutoLeaveUpLine(rt);
                    break;
                case SignalLineType.单牵引下线机构:
                    AutoLeaveDownLine(rt, pin2: false);
                    break;
                case SignalLineType.双牵引下线机构:
                    AutoLeaveDownLine(rt, pin2: true);
                    break;
                case SignalLineType.等待通行机构:
                    AutoLeaveWaitSit(rt);
                    break;
            }
        }

        /// <summary>
        /// 离站完成：写字节清无状态、清空机构内车号。
        /// 若仍挂着 RequestInAgvNo（上线途中 PLC 已报已离开），一并清掉以免卡死下一辆。
        /// </summary>
        private static void ClearLeft(PlcStationRuntime rt, bool fromReadback)
        {
            rt.WriteSignal = SignalWriteValue.无状态;
            rt.InAgvNo = 0;
            if (rt.RequestInAgvNo > 0)
            {
                Diagnosis.Log(
                    $"{rt.DisplayName} {(fromReadback ? "回读已离开" : "写已离开成功")}，清空请求进入车 {rt.RequestInAgvNo}",
                    "JGControl", true);
                rt.RequestInAgvNo = 0;
            }
            else
                Diagnosis.Log($"{rt.DisplayName} 已离开，清空信号", "JGControl", true);
        }

        /// <summary>
        /// 上线机构：进站过程由扫车 RequestIn/Arrived 启动，离站由本方法跟车位推进。
        /// 进入中且车已离开 JgInContains → 视为到位；
        /// 到位且车在跑 → 离开中；
        /// 离开中且车已不在 JgContains → 已离开。
        /// </summary>
        private static void AutoLeaveUpLine(PlcStationRuntime rt)
        {
            if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
                ClearLeft(rt, fromReadback: false);
            if (rt.ReadWriteSignal == SignalWriteValue.已离开)
                ClearLeft(rt, fromReadback: true);

            if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.进入中)
            {
                var car = SignalCarAdapter.Find(rt.RequestInAgvNo);
                if (car == null) return;
                if (!ContainsSite(rt.Dock.JgInContains, SignalCarAdapter.PositionId(car)))
                {
                    rt.WriteSignal = SignalWriteValue.到位;
                    rt.InAgvNo = car.id;
                    rt.RequestInAgvNo = 0;
                    Diagnosis.Log($"AGV{car.id} 已到达机构 {rt.DisplayName}", "JGControl", true);
                }
            }
            else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.到位)
            {
                var car = SignalCarAdapter.Find(rt.InAgvNo);
                if (car == null || SignalCarAdapter.IsRunning(car))
                    rt.WriteSignal = SignalWriteValue.离开中;
            }
            else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.离开中)
            {
                var car = SignalCarAdapter.Find(rt.InAgvNo);
                if (car == null || !ContainsSite(rt.Dock.JgContains, SignalCarAdapter.PositionId(car)))
                    rt.WriteSignal = SignalWriteValue.已离开;
            }
        }

        /// <summary>
        /// 下线机构：车已在机构内（InAgvNo），等允许离开后升销钉、停充、启动，写离开中；
        /// 车离开 JgContains 后写已离开。
        /// <paramref name="pin2"/> 为 true 时双牵引，需销钉1+2都到位。
        /// </summary>
        private static void AutoLeaveDownLine(PlcStationRuntime rt, bool pin2)
        {
            if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
            {
                ClearLeft(rt, fromReadback: false);
                return;
            }

            if (rt.ReadWriteSignal == SignalWriteValue.已离开)
                ClearLeft(rt, fromReadback: true);

            if (rt.InAgvNo == 0) return;
            var car = SignalCarAdapter.Find(rt.InAgvNo);
            if (car == null) return;

            var pos = SignalCarAdapter.PositionId(car);
            if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Dock.JgPointId)
            {
                if (rt.WriteSignal == SignalWriteValue.离开中) return;
                var pinOk = SignalCarAdapter.IsActionFinish(car, "SetPin1Up")
                            && (!pin2 || SignalCarAdapter.IsActionFinish(car, "SetPin2Up"))
                            && SignalCarAdapter.IsActionFinish(car, "StopCharge");
                if (pinOk)
                {
                    SignalCarAdapter.StopCharge(car);
                    SignalCarAdapter.Start(car);
                    rt.WriteSignal = SignalWriteValue.离开中;
                    Diagnosis.Log($"{rt.DisplayName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
                }
                else
                {
                    SignalCarAdapter.Control(car, "SetPin1Up");
                    if (pin2) SignalCarAdapter.Control(car, "SetPin2Up");
                    SignalCarAdapter.Control(car, "StopCharge");
                }
            }
            else if (!string.IsNullOrEmpty(rt.Dock.JgContains)
                     && !ContainsSite(rt.Dock.JgContains, pos)
                     && rt.ReadWriteSignal != SignalWriteValue.已离开)
            {
                rt.WriteSignal = SignalWriteValue.已离开;
            }
        }

        /// <summary>
        /// 等待通行机构：无销钉，允许离开且停在 JgPointId 时停充并启动，写离开中；
        /// 离开包含地标后写已离开。
        /// </summary>
        private static void AutoLeaveWaitSit(PlcStationRuntime rt)
        {
            if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
            {
                ClearLeft(rt, fromReadback: false);
                return;
            }

            if (rt.ReadWriteSignal == SignalWriteValue.已离开)
                ClearLeft(rt, fromReadback: true);

            if (rt.InAgvNo == 0) return;
            var car = SignalCarAdapter.Find(rt.InAgvNo);
            if (car == null) return;

            var pos = SignalCarAdapter.PositionId(car);
            if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Dock.JgPointId)
            {
                if (rt.WriteSignal == SignalWriteValue.离开中) return;
                if (SignalCarAdapter.IsActionFinish(car, "StopCharge"))
                {
                    SignalCarAdapter.Start(car);
                    rt.WriteSignal = SignalWriteValue.离开中;
                    Diagnosis.Log($"{rt.DisplayName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
                }
                else
                    SignalCarAdapter.Control(car, "StopCharge");
            }
            else if (!string.IsNullOrEmpty(rt.Dock.JgContains)
                     && !ContainsSite(rt.Dock.JgContains, pos)
                     && rt.ReadWriteSignal != SignalWriteValue.已离开)
            {
                rt.WriteSignal = SignalWriteValue.已离开;
            }
        }
    }
}