using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;
using System.Net.WebSockets;
using static InterfaceManager;
using System.Threading;
using System;
using System.Text;
using Unity.VisualScripting;

public class RobotDataManager : MonoBehaviour
{
    [Header("响应成功码")]
    public string rtCode = "0";

    #region 初始化属性
    /// <summary>
    /// 是否初始化数据
    /// </summary>
    private bool init_data;
    /// <summary>
    /// 是否已获取【机器人列表】
    /// </summary>
    private bool get_robot_list_done;
    /// <summary>
    /// 是否已获取【机柜列表】
    /// </summary>
    private bool get_catrbin_list_done;
    /// <summary>
    /// 是否已获取【机器人地图数据】
    /// </summary>
    private bool get_robot_map_done;
    /// <summary>
    /// 是否已获取【定点任务-巡检点列表获取】、【机器人地图数据】
    /// </summary>
    private bool get_data_after_init_robot;
    /// <summary>
    /// 机器人信息接收次数
    /// </summary>
    private int get_info_times = 0;
    #endregion

    #region 初始化数据

    /// <summary>
    /// 【机器人列表】数据集合
    /// </summary>
    public List<RobotClass> RobotList = new List<RobotClass>();
    /// <summary>
    /// 【机柜列表】数据集合
    /// </summary>
    public List<CabinClass> CarbinList = new List<CabinClass>();
    /// <summary>
    /// 【定点任务-巡检点列表】数据集合
    /// </summary>
    public List<RobotFixedPointins> RobotFixedPointsins = new List<RobotFixedPointins>();
    /// <summary>
    /// 【机器人地图】数据
    /// </summary>
    public RobotMap RobotMap = new RobotMap();
    /// <summary>
    /// 【机器人任务队列】数据
    /// </summary>
    public RobotTask RobotTask = new RobotTask();
    /// <summary>
    /// 【巡检报表数据】
    /// </summary>
    public InsReport InsReport = new InsReport();

    ///// <summary>
    ///// 【机器人位置状态信息】数据队列
    ///// </summary>
    //public Queue<RobotPos> RobotPosQueue = new Queue<RobotPos>();
    /// <summary>
    /// 【机器人信息】
    /// </summary>
    public Queue<RobotInfo[]> RobotInfosQueue = new Queue<RobotInfo[]>();

    #endregion

    #region 对象

    /// <summary>
    /// 机器人对象
    /// </summary>
    public RobotObject RobotObject;

    #endregion

    // Start is called before the first frame update
    void Start()
    {
        ///获取配置信息
        StartCoroutine(GetRequest(Path.Combine(Application.streamingAssetsPath, "robot.txt"), null, null, (_error, _json) =>
        {
            if (_error != null)
            {
                Debug.Log("请求【配置信息】错误：" + _error);
                return;
            }
            JObject _j = JObject.Parse(_json);
            http_ip_address = _j["http"].ToString();
            ws_ip_address = _j["ws"].ToString();
            http_ip_ma_address = _j["http_ma"].ToString();
            isLive = true;
        }));
    }

    public string _pno;
    // Update is called once per frame
    void Update()
    {
        Init();
        if (Input.GetKeyUp(KeyCode.Y))
        {
            //UsageExample(_pno);
            for (int i = 0; i < RobotFixedPointsins.Count; i++)
            {
                Debug.Log(RobotFixedPointsins[i].pointNo);
            }
        }
        if (Input.GetKeyUp(KeyCode.J))
        {
            UsageExample(_pno);
        }
    }

    /// <summary>
    /// 需要Start中获取的数据在此执行
    /// 等待Start完成本地文件读取后执行
    /// </summary>
    public void Init()
    {
        if (!init_data && isLive)
        {
            init_data = true;
            Debug.Log("初始化数据");

            //获取机器人列表
            StartCoroutine(GetRequest(http_ip_address + get_robot_list, request_header, null, (_error, _data) =>
            {
                if (_error != null)
                {
                    Debug.Log("请求【机器人列表】错误：" + _error);
                    return;
                }

                var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
                Debug.Log(_response.rtMsg);
                if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
                {
                    if (_jobject != null)
                    {
                        RobotList = _jobject["list"].ToObject<List<RobotClass>>();

                        //实例化实体机器人
                        RobotObject.RobotClass = RobotList[0];
                    }
                }
                get_robot_list_done = true;
            }));

            //获取机柜列表
            StartCoroutine(GetRequest(http_ip_address + get_cabin_list, request_header, new Dictionary<string, string>() { { "isExport", "false" }, { "pageSize", "200" } }, (_error, _data) =>
            {
                if (_error != null)
                {
                    Debug.Log("请求【机柜列表】错误：" + _error);
                    return;
                }

                var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
                Debug.Log(_response.rtMsg);
                if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
                {
                    if (_jobject != null)
                    {
                        CarbinList = _jobject["list"].ToObject<List<CabinClass>>();
                    }
                }
                get_catrbin_list_done = true;
            }));


        }

        if (get_robot_list_done && get_catrbin_list_done && !get_data_after_init_robot)
        {
            get_data_after_init_robot = true;

            if (RobotList.Count < 1)
            {
                Debug.Log("机器人列表小于1！");
                return;
            }

            //获取定点任务-巡检点列表
            StartCoroutine(GetRequest(http_ip_address + get_robot_fixed_pointins, request_header, new Dictionary<string, string>() { { "roomId", RobotList[0].roomId }, { "pageSize", "200" } }, (_error, _data) =>
            {
                if (_error != null)
                {
                    Debug.Log("请求【定点任务-巡检点列表】错误：" + _error);
                    return;
                }

                var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
                Debug.Log(_response.rtMsg);
                if (_response.rtCode.Equals(rtCode))
                {
                    RobotFixedPointsins = JsonConvert.DeserializeObject<List<RobotFixedPointins>>(_response.rtData.ToString());
                }
                get_catrbin_list_done = true;
            }));

            //获取机器人地图数据
            StartCoroutine(GetRequest(http_ip_address + get_robot_map + RobotObject.RobotClass.robot_id + "/map", request_header, new Dictionary<string, string>() { { "robotId", RobotList[0].robot_id } }, (_error, _data) =>
            {
                if (_error != null)
                {
                    Debug.Log("请求【机器人地图数据】错误：" + _error);
                    return;
                }

                var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
                Debug.Log(_response.rtMsg);
                if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
                {
                    if (_jobject != null)
                    {
                        RobotMap = _jobject.ToObject<RobotMap>();

                        //实例化实体机器人的地图数据
                        RobotObject.RobotMap = RobotMap;
                    }
                }
                get_robot_map_done = true;
            }));

            //websocket
            WSRobotPos();
            //WSRobotInfo();
        }
    }

    #region WebSocket数据接收

    private ClientWebSocket ws_robot_pos;

    /// <summary>
    /// 【机器人位置状态信息】
    /// </summary>
    private async void WSRobotPos()
    {
        try
        {
            ws_robot_pos = new ClientWebSocket();
            CancellationToken ct = new CancellationToken();
            var url = ws_ip_address + ws_robot_html5 + RobotObject.RobotClass.id;
            Debug.Log(url);
            Uri uri = new Uri(url);
            await ws_robot_pos.ConnectAsync(uri, ct);

            while (true)
            {
                Debug.Log("111");
                var result = new byte[1024];
                await ws_robot_pos.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
                var str = Encoding.UTF8.GetString(result, 0, result.Length);
                //处理数据
                JObject _jobject = JObject.Parse(str);
                if (_jobject != null && _jobject["msg"] != null)
                {
                    if (RobotObject != null)
                    {
                        RobotPos _robot_pos = JsonConvert.DeserializeObject<RobotPos>(_jobject["msg"].ToString());
                        RobotObject.RobotPosQueue.Enqueue(_robot_pos);
                    }
                }
            }
        }
        catch (Exception ex)
        {
            Debug.LogError(ex.ToString());
        }
    }

    /// <summary>
    /// 【机器人信息】
    /// </summary>
    private async void WSRobotInfo()
    {
        ClientWebSocket ws = new ClientWebSocket();
        CancellationToken ct = new CancellationToken();
        Uri uri = new Uri(ws_ip_address + ws_robot_info);
        await ws.ConnectAsync(uri, ct);

        while (true)
        {
            if (get_info_times == 0) continue;

            var result = new byte[1024];
            await ws.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
            var str = Encoding.UTF8.GetString(result, 0, result.Length);
            //处理数据
            RobotInfo[] _robot_info = JsonConvert.DeserializeObject<RobotInfo[]>(str.ToString());
            RobotInfosQueue.Enqueue(_robot_info);

            get_info_times++;
        }
    }
    #endregion

    #region 功能点2：下发巡检任务

    /*
     * 任务描述：
     * 功能：点击机柜，下发巡检任务。
     * 1.【获取机器人任务队列】先看机器人是否正在巡检（没有才下发）
     * 2.【定点任务下发】“pointList“参数中”pointNo “为机柜巡检点，其他参数照抄不动
     * 3.下发后看【获取机器人任务队列】是否巡检完成
     * 4.巡检完成查看【查询巡检报表数据】将“pic“字段的值从” thermal “开始拆分，把thermal后的截取出来，发送到后台进行保存。
     */

    /// <summary>
    /// 功能点2调用示例
    /// </summary>
    /// <param name="_point_no">点位编号</param>
    public void UsageExample(string _point_no)
    {
        //开始执行第一步：查询当前是否正在巡检
        GetTaskQueue((_error, _no_task) =>
        {
            if (_error != null)
            {
                Debug.Log(_error);
                return;
            }

            //判断当前是否正在巡检
            if (!_no_task)
            {
                //如果准备下发巡检任务时正在巡检，则执行如下操作
                Debug.Log("当前正在巡检中！请稍后再试！");
                //ToDo
                //...
                //return;
            }

            //若未在巡检，执行第二步：下发任务
            PostRobotTask(_point_no, (_error, _post_success) =>
            {
                //判断是否下发成功
                if (_error != null)
                {
                    Debug.Log(_error);
                    return;
                }
                //下发成功后开始执行第三步：循环查询直至结束任务
                StartCoroutine(Cyclic_GetTaskQuery((_error) =>
                 {
                     if (_error != null)
                     {
                         Debug.Log(_error);
                         return;
                     }

                     //任务结束后执行第四步：查看【查询巡检报表数据】将“pic“字段的值从” thermal “开始拆分，把thermal后的截取出来，发送到后台进行保存
                     GetInsReport((_error, _success) =>
                     {
                         if (_error != null)
                         {
                             Debug.Log(_error);
                             return;
                         }

                         Dictionary<string, List<string>> _pics = new Dictionary<string, List<string>>();

                         for (int i = 0; i < InsReport.thermal.Count; i++)
                         {
                             var _ps = new List<string>();
                             var pic1 = InsReport.thermal[i].pic1.Split("thermal")[1];
                             var pic2 = InsReport.thermal[i].pic2.Split("thermal")[1];
                             var pic3 = InsReport.thermal[i].pic3.Split("thermal")[1];
                             var pic4 = InsReport.thermal[i].pic4.Split("thermal")[1];
                             var pic5 = InsReport.thermal[i].pic5.Split("thermal")[1];
                             var pic6 = InsReport.thermal[i].pic6.Split("thermal")[1];
                             var pic7 = InsReport.thermal[i].pic7.Split("thermal")[1];

                             _ps.Add(pic1);
                             _ps.Add(pic2);
                             _ps.Add(pic3);
                             _ps.Add(pic4);
                             _ps.Add(pic5);
                             _ps.Add(pic6);
                             _ps.Add(pic7);

                             _pics.Add(InsReport.thermal[i].id, _ps);
                         }
                         //ToDo
                         //将处理好的数据发送给后台
                         //...
                         Debug.Log("图片路径处理完成！");
                     });
                 }));
            });
        });
    }

    /// <summary>
    /// 获取机器人任务列队
    /// </summary>
    /// <param name="_callback">参数1：异常信息；参数2：true->当前未在巡检</param>
    public void GetTaskQueue(Action<string, bool> _callback = null)
    {
        Debug.Log("查询当前巡检状态中...");
        //注意接口地址中最后一个为机器人id，后期根据业务修改机器人id
        StartCoroutine(GetRequest(http_ip_address + get_task_queue + RobotObject.RobotClass.robot_id, request_header, null, (_error, _data) =>
        {
            if (_error != null)
            {
                _callback?.Invoke(_error, false);
                return;
            }

            var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
            if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
            {
                Debug.Log(_response.rtMsg);
                if (_jobject != null)
                {
                    RobotTask = _jobject.ToObject<RobotTask>();

                    //实例化实体机器人的任务数据，注意机器人id是否匹配
                    RobotObject.RobotTask = RobotTask;

                    //判断每条 RobotTask.data[].Task_type是否为fixed
                    //...如果没有返回True，表示未在巡检，否则返回False
                    _callback?.Invoke(null, RobotTask.data == null || RobotTask.data.Count == 0);
                }
            }
            else
            {
                _callback?.Invoke(_response.rtMsg, false);
            }
        }));
    }

    /// <summary>
    /// 机器人任务下发
    /// </summary>
    public void PostRobotTask(string _point_no, Action<string, bool> _callback = null)
    {
        string _json_data = "{\r\n  \"robotIp\": \"192.168.8.198\",\r\n  \"pointList\": [\r\n    {\r\n      \"pointNo\": \"" + _point_no + "\",\r\n      \"04\": \"0\",\r\n      \"06\": \"0\",\r\n      \"01\": \"1\",\r\n      \"cabinType\": \"1\",\r\n      \"03\": \"0\",\r\n      \"05\": \"0\"\r\n    }\r\n  ]\r\n}";

        StartCoroutine(PostRequest(http_ip_address + post_robot_fixed_point, _json_data, request_header, (_error, _data) =>
        {
            if (_error != null)
            {
                Debug.Log(_error);
                _callback?.Invoke(_error, false);
                return;
            }

            var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
            Debug.Log(_response.rtMsg);
            if (_response.rtCode.Equals(rtCode))//返回值匹配表示下发成功
            {
                //下发成功后循环执行获取机器人任务队列，直至任务队列为空后继续执行后续操作
                _callback?.Invoke(null, true);
            }
            else
            {
                _callback?.Invoke(_response.rtMsg, false);
            }
        }));
    }

    /// <summary>
    /// 执行循环查询等待操作
    /// </summary>
    /// <returns></returns>
    public IEnumerator Cyclic_GetTaskQuery(Action<string> _callback = null)
    {
        int _call_time = 0;//调用次数
        int _response_time = 0;//返回次数
        bool _finish = false;//结束循环操作
        int _error_time = 0;
        while (true)
        {
            if (_finish) break;

            //循环查询异常次数超过一定值，结束查询并跳出循环，避免过多不必要的开销
            if (_error_time > 3)
            {
                _callback?.Invoke("查询异常！");
                break;
            }

            yield return new WaitForSeconds(3);

            if (_call_time != _response_time) continue;

            #region 测试

            if (_response_time == 3)
            {
                Debug.Log("测试：等待次数过多");
                _callback?.Invoke(null);
                break;
            }

            #endregion

            _call_time++;
            Debug.Log("执行第" + _call_time + "次循环");
            GetTaskQueue((_error, _no_task) =>
            {
                if (_error != null)
                {
                    _error_time++;
                    _response_time++;
                    Debug.Log("请求返回第" + _response_time + "次");
                    return;
                }
                if (_no_task)
                {
                    //当前无任务，结束循环操作
                    _finish = true;
                    _callback?.Invoke(null);
                }
                else
                {
                    //当前任务尚未结束，继续执行循环操作等待任务结束
                    _response_time++;
                    Debug.Log("请求返回第" + _response_time + "次");
                }
            });
        }
        yield return null;
    }

    /// <summary>
    /// 获取巡检报表数据
    /// </summary>
    public void GetInsReport(Action<string, bool> _callback)
    {
        //需补充请求参数，机器人任务队列中的Ins_Id,根据业务筛选具体数据
        StartCoroutine(GetRequest(http_ip_address + get_record_ins_report, request_header, new Dictionary<string, string>() { { "insId", RobotTask.data[0].Ins_Id } }, (_error, _data) =>
        {
            if (_error != null)
            {
                Debug.Log(_error);
                _callback?.Invoke(_error, false);
                return;
            }

            var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
            if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
            {
                Debug.Log(_response.rtMsg);
                if (_jobject != null)
                {
                    InsReport = _jobject.ToObject<InsReport>();

                    _callback?.Invoke(null, true);
                }
            }
            else
            {
                _callback?.Invoke(_response.rtMsg, false);
            }
        }));
    }

    #endregion

    #region 功能点3：巡检结果查看

    public void ViewInspectionResults(Action<string, List<Sprite>> _callback)
    {
        //注意补充Token值
        StartCoroutine(GetRequest(http_ip_ma_address + get_inspection, new Dictionary<string, string>() { { "X-Token", "" } }, null, (_error, _data) =>
        {
            if (_error != null)
            {
                Debug.Log(_error);
                _callback?.Invoke(_error, null);
                return;
            }

            ResponseData_ma response = JsonConvert.DeserializeObject<ResponseData_ma>(_data);
            if (response.message.Equals("操作成功") && response.data is JObject jobject)
            {
                if (response.data != null)
                {
                    var inspection_datas = jobject.ToObject<List<InspectionResult>>();

                    var sprites = new List<Sprite>();
                    for (int i = 0; i < inspection_datas.Count; i++)
                    {
                        //base64转图片
                        byte[] bytes = Convert.FromBase64String(_data);
                        Texture2D text2D = new Texture2D(100, 100);
                        text2D.LoadImage(bytes);
                        Sprite sprite = Sprite.Create(text2D, new Rect(0, 0, text2D.width, text2D.height), new Vector2(0.5f, 0.5f));
                        sprites.Add(sprite);
                    }
                    _callback?.Invoke(null, sprites);
                }
            }
        }));
    }

    #endregion

    private void OnDestroy()
    {
        CloseClientWebSocket();
    }

    /// <summary>
    /// 关闭ClientWebSocket。
    /// </summary>
    public void CloseClientWebSocket()
    {
        //关闭Socket
        if (ws_robot_pos != null && ws_robot_pos.State == WebSocketState.Open)
        {
            var task = ws_robot_pos.CloseAsync(WebSocketCloseStatus.NormalClosure, string.Empty, CancellationToken.None);
            task.Wait();
        }
    }
}