using Cysharp.Threading.Tasks;
using DefaultNamespace;
using DG.Tweening;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Drawing;
using System.Runtime.Remoting.Messaging;
using UnityEngine;

public class Machine : MonoBehaviour
{
    [Header("机械手臂ID")]
    public string Id;
    [Header("机械手臂动画")]
    public Animation animations;
    [Header("机械手臂箱子生成位置")]
    public Transform points;
    [Header("箱子")]
    public GameObject Box;
    [Header("箱子2")]
    public GameObject Box2;
    [Header("位移的速度")]
    public float speed = 3.5f;
    /// <summary>
    /// 接收执行的动画
    /// </summary>
    private GameObject boxdata;
    private int Number = 0;
    private int Number2 = 0;
    /// <summary>
    /// 初始化判断
    /// </summary>
    private bool ispcon = false;
    /// <summary>
    /// 特殊实箱
    /// </summary>
    public Material Specialkernelbox;
    private void Awake()
    {

    }
    void Update()
    {

    }
    public void Getarm(Roboticarm roboticarm)
    {

        if (roboticarm.Jobcontent != "0" && roboticarm.Workstation != "0")
        {
            int worksta = int.Parse(roboticarm.Workstation);
            int index = int.Parse(roboticarm.Jobcontent);
            if (index != Number && worksta != Number2)
            {
                //Debug.Log("进来了调用步骤" + index);
                Motionexecution(roboticarm.Jobcontent, roboticarm);
                Number2 = worksta;
            }
        }
        if (!ispcon)
        {
            int index = int.Parse(roboticarm.Jobcontent);
            if (index > 1)
            {
                Init();
                //Debug.Log("机械手臂初始化" + roboticarm.Jobcontent);
            }
            ispcon = true;
        }
    }

    private void Init()
    {
        if (points.childCount == 0)
        {
            GameObject box = Instantiate(Box, points);
            Renderer renderer = box.GetComponent<Renderer>();
            if (renderer)
            {
                renderer.material = Specialkernelbox;
            }
            box.transform.SetParent(points);
        }
    }

    /// <summary>
    /// 先判断步骤运动到指定位置再执行动画
    /// </summary>
    /// <param name="procedurem"></param>
    /// <param name="roboticarm"></param>
    public async UniTask Motionexecution(string procedurem, Roboticarm roboticarm)
    {
        switch (procedurem)
        {
            case "1":
                if (roboticarm.Workstation.Length > 0)
                {
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Number = 1;
                        //Debug.Log("取箱子");
                        Transform point = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(point.position, (Vector3.Distance(transform.position, point.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("take");
                            StartCoroutine(Judgmentbox(roboticarm.Workstation));
                        });
                    }
                }
                break;
            case "2":
                if (roboticarm.Workstation == "10" || roboticarm.Workstation == "9")
                {
                    //Debug.Log("读箱子信息");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("read");
                            Number = 2;
                            Number2 = 666;
                        });
                    }
                }
                else
                {
                    Number = 3;
                    Number2 = 991;
                }
                break;
            case "3":
                if (roboticarm.Workstation == "10" || roboticarm.Workstation == "9")
                {
                    //Debug.Log("去盖");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("To");
                            Number = 3;
                        });
                    }
                }
                else
                {
                    Number = 4;
                    Number2 = 992;
                }
                break;
            case "4":
                if (roboticarm.Workstation != "10" || roboticarm.Workstation != "9")
                {
                    //Debug.Log("喂料");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("hello");
                            Number = 4;
                        });
                    }
                }
                else
                {
                    Number = 5;
                    Number2 = 993;
                }
                break;
            case "5":
                if (roboticarm.Workstation == "10" || roboticarm.Workstation == "9")
                {
                    //Debug.Log("清扫");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("qing");
                            Number = 5;
                            Number2 = 888;
                        });
                    }
                }
                else
                {
                    Number = 6;
                    Number2 = 994;
                }
                break;
            case "6":
                if (roboticarm.Workstation == "10" || roboticarm.Workstation == "9")
                {
                    //Debug.Log("拍照");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            Number = 6;
                            Number2 = 777;
                        });
                    }
                }
                else
                {
                    Number = 7;
                    Number2 = 995;
                }
                break;
            case "7":
                if (roboticarm.Workstation == "10" || roboticarm.Workstation == "9")
                {
                    //Debug.Log("加盖");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform box = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(box.position, (Vector3.Distance(transform.position, box.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("qinghou");
                            Number = 7;
                        });
                    }
                }
                else
                {
                    Number = 8;
                    Number2 = 996;
                }
                break;
            case "8":
                if (roboticarm.Workstation.Length > 2)
                {
                    //Debug.Log("放箱子");
                    if (MqttManager.Instance.Mechanicalarm(roboticarm.Workstation))
                    {
                        Transform point = MqttManager.Instance.Mechanicalarm(roboticarm.Workstation);
                        transform.DOMove(point.position, (Vector3.Distance(transform.position, point.position) / speed)).SetEase(Ease.InOutQuad).OnComplete(() =>
                        {
                            animations.Play("put");
                            Invoke("Laydown", 1f);
                            StartCoroutine(Judgmentbox2(roboticarm.Workstation));
                            Number = 8;
                        });
                    }
                }
                else
                {
                    Number = 9;
                    Number2 = 997;
                }
                break;
            default:
                //Debug.Log("没有满足条件");
                break;
        }
    }
    /// <summary>
    /// 查找箱子点位
    /// </summary>
    /// <param name="point"></param>
    IEnumerator Judgmentbox(string box)
    {
        yield return new WaitForSeconds(0.95f);
        switch (box)
        {
            case "11":
                Deletebox("5402");
                break;
            case "12":
                Deletebox("5402");
                break;
            case "21":
                Deletebox("5406");
                break;
            case "22":
                Deletebox("5406");
                break;
            case "31":
                Deletebox("5408");
                break;
            case "32":
                Deletebox("5408");
                break;
            case "41":
                Deletebox("5410");
                break;
            case "42":
                Deletebox("5410");
                break;
            case "51":
                Deletebox("5414");
                break;
            case "52":
                Deletebox("5414");
                break;
            case "61":
                Deletebox("5416");
                break;
            case "62":
                Deletebox("5416");
                break;
            case "71":
                Deletebox("5418");
                break;
            case "72":
                Deletebox("5418");
                break;
            default:
                break;
        }
    }
    /// <summary>
    /// 放下箱子
    /// </summary>
    /// <param name="box"></param>
    IEnumerator Judgmentbox2(string box)
    {
        yield return new WaitForSeconds(1.03f);
        switch (box)
        {
            case "111":
                Addbox("5404");
                break;
            case "112":
                Addbox("5404");
                break;
            case "121":
                Addbox("5410");
                break;
            case "122":
                Addbox("5410");
                break;
            case "131":
                Addbox("5412");
                break;
            case "132":
                Addbox("5412");
                break;
            default:
                break;
        }
    }
    /// <summary>
    /// 删除对应点位箱子
    /// </summary>
    public void Deletebox(string point)
    {
        if (MqttManager.Instance.GetTransformByName(point))
        {
            Transform points = MqttManager.Instance.GetTransformByName(point);
            if (points.GetChild(0).transform.childCount == 1)
            {
                GameObject box = points.transform.GetChild(0).GetChild(0).gameObject;
                box.transform.SetParent(null);
                box.transform.position = this.points.transform.position;
                box.transform.localEulerAngles = new Vector3(0, 0, 0);
                box.transform.SetParent(this.points);

                //Debug.Log("删除第一个对应箱子");
            }
            else if (points.childCount == 1)
            {
                GameObject box = points.transform.GetChild(0).gameObject;
                box.transform.SetParent(null);
                box.transform.position = this.points.transform.position;
                box.transform.localEulerAngles = new Vector3(0, 0, 0);
                box.transform.SetParent(this.points);
                //Debug.Log("删除第二个对应箱子");
            }
            else
            {
                //Debug.Log("找不到删除对象");
            }
        }
    }
    /// <summary>
    /// 增加对应箱子
    /// </summary>
    public void Addbox(string point)
    {
        if (MqttManager.Instance.GetTransformByName(point))
        {
            Transform points = MqttManager.Instance.GetTransformByName(point);
            if (points.childCount == 0)
            {
                //Debug.Log("添加第一个箱子");
                boxdata = Instantiate(Box, points.transform);
            }
            else if (points.childCount == 1)
            {
                //Debug.Log("添加第二个箱子");
                GameObject box = points.GetChild(0).gameObject;
                if (box)
                {
                    Destroy(box);
                }
                GameObject game = Instantiate(Box2, points.transform);
            }
        }
    }
    /// <summary>
    /// 删除手臂的箱子
    /// </summary>
    public void Laydown()
    {
        if (points.transform.childCount > 0)
        {
            GameObject game = points.transform.GetChild(0).gameObject;
            Destroy(game);
        }
    }
}