using Flurl.Http;
using Newtonsoft.Json;
using Sln.Wcs.HikRoBotSdk.Config;
using Sln.Wcs.HikRoBotSdk.Dto.CancelTask;
using Sln.Wcs.HikRoBotSdk.Dto.ContinueTask;
using Sln.Wcs.HikRoBotSdk.Dto.GbCancelTask;
using Sln.Wcs.HikRoBotSdk.Dto.GbContinueTask;
using Sln.Wcs.HikRoBotSdk.Dto.GbTaskSubmit;
using Sln.Wcs.HikRoBotSdk.Dto.GenAgvSchedulingTask;
using Sln.Wcs.HikRoBotSdk.Dto.TaskGroup;
using Sln.Wcs.HikRoBotSdk.Dto.TaskPriority;
using Sln.Wcs.HikRoBotSdk.Dto.ZonePause;
using Sln.Wcs.HikRoBotSdk.Dto.ZoneHoming;
using Sln.Wcs.HikRoBotSdk.Dto.ZoneBanish;
using Sln.Wcs.HikRoBotSdk.Dto.ZoneBlockade;
using Sln.Wcs.HikRoBotSdk.Dto.CarrierBind;
using Sln.Wcs.HikRoBotSdk.Dto.CarrierUnbind;
using Sln.Wcs.HikRoBotSdk.Dto.SiteBind;
using Sln.Wcs.HikRoBotSdk.Dto.CarrierLock;
using Sln.Wcs.HikRoBotSdk.Dto.SiteLock;
using Sln.Wcs.HikRoBotSdk.Dto.PreTask;
using Sln.Wcs.HikRoBotSdk.Dto.QueryTask;
using Sln.Wcs.HikRoBotSdk.Dto.QueryRobot;
using Sln.Wcs.HikRoBotSdk.Dto.QueryCarrier;
using Sln.Wcs.HikRoBotSdk.Dto.MatLabelBind;
using Sln.Wcs.HikRoBotSdk.Dto.MatLabelUnbind;
using Sln.Wcs.HikRoBotSdk.Dto.EquipmentNotify;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Authentication;
using System.Text;
using System.Threading.Tasks;

#region << 版 本 注 释 >>
/*--------------------------------------------------------------------
* 版权所有 (c) 2026 WenJY 保留所有权利。
* CLR版本：4.0.30319.42000
* 机器名称：T14-GEN3-7895
* 命名空间：Sln.Wcs.HikRoBotSdk
* 唯一标识：17e983b2-0c7e-4b27-ae05-e333d623b85d
*
* 创建者：WenJY
* 电子邮箱：
* 创建时间：2026-02-25 14:40:23
* 版本：V1.0.0
* 描述：
*
*--------------------------------------------------------------------
* 修改人：
* 时间：
* 修改说明：
*
* 版本：V1.0.0
*--------------------------------------------------------------------*/
#endregion << 版 本 注 释 >>
namespace Sln.Wcs.HikRoBotSdk
{
    public class HIKRoBotSdk : IHIKRoBotSdk
    {

        private readonly HikRoBotConfig hikRoBotConfig;

        public HIKRoBotSdk(HikRoBotConfig hikRoBotConfig)
        {
            this.hikRoBotConfig = hikRoBotConfig;
        }
        
        /// <summary>
        /// GB标准-任务下发接口
        ///
        /// 业务系统发送任务请求，物流机器人调度系统生成任务执行单并下发执行。
        /// </summary>
        /// <param name="gbTaskSubmit"></param>
        /// <returns></returns>
        public GbTaskSubmitResultDto GbTaskSubmit(GbTaskSubmitDto gbTaskSubmit)
        {
            string url = $"{hikRoBotConfig.api}/task/submit";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));
            string json = JsonConvert.SerializeObject(gbTaskSubmit);
            Console.WriteLine($"请求报文：{json}");

            return request.PostJsonAsync(gbTaskSubmit).Result.GetJsonAsync<GbTaskSubmitResultDto>().Result;
        }
        
        /// <summary>
        /// GB标准-任务继续执行接口
        ///
        /// 一个任务包含多个步骤，每个步骤完成后，通过此接口驱动下一个步骤执行。
        /// </summary>
        /// <param name="gbContinueTask"></param>
        /// <returns></returns>
        public GbContinueTaskResultDto GbContinueTask(GbContinueTaskDto gbContinueTask)
        {
            string url = $"{hikRoBotConfig.api}/task/extend/continue";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(gbContinueTask).Result.GetJsonAsync<GbContinueTaskResultDto>().Result;
        }

        /// <summary>
        /// GB标准-任务取消接口
        ///
        /// 取消指定任务，支持软取消（回库）和硬取消（直接丢弃）。
        /// </summary>
        /// <param name="gbCancelTask"></param>
        /// <returns></returns>
        public GbCancelTaskResultDto GbCancelTask(GbCancelTaskDto gbCancelTask)
        {
            string url = $"{hikRoBotConfig.api}/task/cancel";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(gbCancelTask).Result.GetJsonAsync<GbCancelTaskResultDto>().Result;
        }

        /// <summary>
        /// 任务分组
        ///
        /// 对多个任务进行分组，组内任务按优先级顺序执行。
        /// </summary>
        /// <param name="taskGroup"></param>
        /// <returns></returns>
        public TaskGroupResultDto TaskGroup(TaskGroupDto taskGroup)
        {
            string url = $"{hikRoBotConfig.api}/task/group";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(taskGroup).Result.GetJsonAsync<TaskGroupResultDto>().Result;
        }

        /// <summary>
        /// 设置任务优先级
        ///
        /// 修改指定任务的优先级。
        /// </summary>
        /// <param name="taskPriority"></param>
        /// <returns></returns>
        public TaskPriorityResultDto SetTaskPriority(TaskPriorityDto taskPriority)
        {
            string url = $"{hikRoBotConfig.api}/task/priority";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(taskPriority).Result.GetJsonAsync<TaskPriorityResultDto>().Result;
        }

        /// <summary>
        /// 区域暂停
        ///
        /// 暂停指定区域内的所有AGV任务。
        /// </summary>
        /// <param name="zonePause"></param>
        /// <returns></returns>
        public ZonePauseResultDto ZonePause(ZonePauseDto zonePause)
        {
            string url = $"{hikRoBotConfig.api}/zone/pause";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(zonePause).Result.GetJsonAsync<ZonePauseResultDto>().Result;
        }

        /// <summary>
        /// 区域回库
        ///
        /// 将指定区域内的AGV召回至充电桩/待命点。
        /// </summary>
        /// <param name="zoneHoming"></param>
        /// <returns></returns>
        public ZoneHomingResultDto ZoneHoming(ZoneHomingDto zoneHoming)
        {
            string url = $"{hikRoBotConfig.api}/zone/homing";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(zoneHoming).Result.GetJsonAsync<ZoneHomingResultDto>().Result;
        }

        /// <summary>
        /// 区域驱赶
        ///
        /// 将指定区域内的AGV驱赶出该区域。
        /// </summary>
        /// <param name="zoneBanish"></param>
        /// <returns></returns>
        public ZoneBanishResultDto ZoneBanish(ZoneBanishDto zoneBanish)
        {
            string url = $"{hikRoBotConfig.api}/zone/banish";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(zoneBanish).Result.GetJsonAsync<ZoneBanishResultDto>().Result;
        }

        /// <summary>
        /// 区域封锁
        ///
        /// 封锁指定区域，禁止AGV进入该区域。
        /// </summary>
        /// <param name="zoneBlockade"></param>
        /// <returns></returns>
        public ZoneBlockadeResultDto ZoneBlockade(ZoneBlockadeDto zoneBlockade)
        {
            string url = $"{hikRoBotConfig.api}/zone/blockade";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(zoneBlockade).Result.GetJsonAsync<ZoneBlockadeResultDto>().Result;
        }

        /// <summary>
        /// 载具绑定
        ///
        /// 将载具（货架/料箱等）与指定库位进行绑定。
        /// </summary>
        /// <param name="carrierBind"></param>
        /// <returns></returns>
        public CarrierBindResultDto CarrierBind(CarrierBindDto carrierBind)
        {
            string url = $"{hikRoBotConfig.api}/carrier/bind";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(carrierBind).Result.GetJsonAsync<CarrierBindResultDto>().Result;
        }

        /// <summary>
        /// 载具解绑
        ///
        /// 解除载具（货架/料箱等）与库位的绑定关系。
        /// </summary>
        /// <param name="carrierUnbind"></param>
        /// <returns></returns>
        public CarrierUnbindResultDto CarrierUnbind(CarrierUnbindDto carrierUnbind)
        {
            string url = $"{hikRoBotConfig.api}/carrier/unbind";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(carrierUnbind).Result.GetJsonAsync<CarrierUnbindResultDto>().Result;
        }

        /// <summary>
        /// 库位绑定
        ///
        /// 将载具绑定到指定库位。
        /// </summary>
        /// <param name="siteBind"></param>
        /// <returns></returns>
        public SiteBindResultDto SiteBind(SiteBindDto siteBind)
        {
            string url = $"{hikRoBotConfig.api}/site/bind";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(siteBind).Result.GetJsonAsync<SiteBindResultDto>().Result;
        }

        /// <summary>
        /// 载具锁定
        ///
        /// 锁定指定载具，禁止AGV操作该载具。
        /// </summary>
        /// <param name="carrierLock"></param>
        /// <returns></returns>
        public CarrierLockResultDto CarrierLock(CarrierLockDto carrierLock)
        {
            string url = $"{hikRoBotConfig.api}/carrier/lock";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(carrierLock).Result.GetJsonAsync<CarrierLockResultDto>().Result;
        }

        /// <summary>
        /// 库位锁定
        ///
        /// 锁定指定库位，禁止AGV访问该库位。
        /// </summary>
        /// <param name="siteLock"></param>
        /// <returns></returns>
        public SiteLockResultDto SiteLock(SiteLockDto siteLock)
        {
            string url = $"{hikRoBotConfig.api}/site/lock";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(siteLock).Result.GetJsonAsync<SiteLockResultDto>().Result;
        }

        /// <summary>
        /// 预占任务
        ///
        /// 预占AGV资源，为后续任务执行做准备。
        /// </summary>
        /// <param name="preTask"></param>
        /// <returns></returns>
        public PreTaskResultDto PreTask(PreTaskDto preTask)
        {
            string url = $"{hikRoBotConfig.api}/task/pretask";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(preTask).Result.GetJsonAsync<PreTaskResultDto>().Result;
        }

        /// <summary>
        /// 查询任务状态
        ///
        /// 根据任务编号查询任务的当前执行状态。
        /// </summary>
        /// <param name="queryTask"></param>
        /// <returns></returns>
        public QueryTaskResultDto QueryTaskStatus(QueryTaskDto queryTask)
        {
            string url = $"{hikRoBotConfig.api}/task/query";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(queryTask).Result.GetJsonAsync<QueryTaskResultDto>().Result;
        }

        /// <summary>
        /// 查询机器人状态
        ///
        /// 查询指定机器人的当前运行状态信息。
        /// </summary>
        /// <param name="queryRobot"></param>
        /// <returns></returns>
        public QueryRobotResultDto QueryRobotStatus(QueryRobotDto queryRobot)
        {
            string url = $"{hikRoBotConfig.api}/robot/query";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(queryRobot).Result.GetJsonAsync<QueryRobotResultDto>().Result;
        }

        /// <summary>
        /// 查询载具状态
        ///
        /// 查询指定载具的当前位置和状态信息。
        /// </summary>
        /// <param name="queryCarrier"></param>
        /// <returns></returns>
        public QueryCarrierResultDto QueryCarrierStatus(QueryCarrierDto queryCarrier)
        {
            string url = $"{hikRoBotConfig.api}/carrier/query";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(queryCarrier).Result.GetJsonAsync<QueryCarrierResultDto>().Result;
        }

        /// <summary>
        /// 物料标签绑定
        ///
        /// 将物料与标签进行绑定关联。
        /// </summary>
        /// <param name="matLabelBind"></param>
        /// <returns></returns>
        public MatLabelBindResultDto MatLabelBind(MatLabelBindDto matLabelBind)
        {
            string url = $"{hikRoBotConfig.api}/matlabel/bind";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(matLabelBind).Result.GetJsonAsync<MatLabelBindResultDto>().Result;
        }

        /// <summary>
        /// 物料标签解绑
        ///
        /// 解除物料与标签的绑定关系。
        /// </summary>
        /// <param name="matLabelUnbind"></param>
        /// <returns></returns>
        public MatLabelUnbindResultDto MatLabelUnbind(MatLabelUnbindDto matLabelUnbind)
        {
            string url = $"{hikRoBotConfig.api}/matlabel/unbind";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(matLabelUnbind).Result.GetJsonAsync<MatLabelUnbindResultDto>().Result;
        }

        /// <summary>
        /// 设备状态通知
        ///
        /// 向上层系统通知设备（AGV/载具等）的状态变化。
        /// </summary>
        /// <param name="equipmentNotify"></param>
        /// <returns></returns>
        public EquipmentNotifyResultDto EquipmentNotify(EquipmentNotifyDto equipmentNotify)
        {
            string url = $"{hikRoBotConfig.api}/spi/wcs/robot/eqpt/notify";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(equipmentNotify).Result.GetJsonAsync<EquipmentNotifyResultDto>().Result;
        }

        /// <summary>
        /// 设备状态通知（国标）
        ///
        /// 以国标格式向上层系统通知设备状态变化。
        /// </summary>
        /// <param name="equipmentNotify"></param>
        /// <returns></returns>
        public EquipmentNotifyResultDto EquipmentNotifyGbt(EquipmentNotifyDto equipmentNotify)
        {
            string url = $"{hikRoBotConfig.api}/spi/wcs/robot/eqpt/notifyGbt";
            var request = url
                .WithHeader("Content-Type", hikRoBotConfig.contentType)
                .WithHeader("User-Agent", hikRoBotConfig.userAgent)
                .WithHeader("X-lr-request-id", System.Guid.NewGuid().ToString("N"))
                .WithHeader("X-lr-version", hikRoBotConfig.xlrVersion)
                .WithTimeout(TimeSpan.FromSeconds(15));

            return request.PostJsonAsync(equipmentNotify).Result.GetJsonAsync<EquipmentNotifyResultDto>().Result;
        }
    }
}