package com.zy.acs.manager.manager.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
import com.zy.acs.manager.manager.controller.result.BackpackVo;
import com.zy.acs.manager.manager.controller.result.OpenAgvInfo;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;

@Service("openAlgorithmService")
public class OpenAlgorithmServiceImpl implements OpenAlgorithmService {

    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private ConfigService configService;


    public static final ArrayList<String> FOURTH_AGV_GROUP = new ArrayList<String>() {{
        add("113");
        add("115");
        add("116");
        add("117");
        add("119");
    }};

    @Override
    public List<OpenAgvInfo> listAgv(OpenAgvParam param) {
        List<Agv> agvList = agvService.list();
        List<OpenAgvInfo> result = new ArrayList<>();
        AgvDetail agvDetail;
        AgvModel agvModel;
        for (Agv agv : agvList) {
            if (!FOURTH_AGV_GROUP.contains(agv.getUuid())) {
                continue;
            }
            agvDetail = agvDetailService.getById(agv.getId());
            List<Task> taskList = taskService.findTransportTasksByAgv(agvDetail.getId());
            agvModel = agvModelService.getByAgvId(agv.getAgvModel());
            OpenAgvInfo info = new OpenAgvInfo();
            info.setAgvId(agv.getUuid());
            info.setStatus(1);
            //info.setStatus(agvDetail.getStatus());
            info.setPosition(agvDetail.getCode$());
            info.setDirection(agvDetail.getAgvAngle());
            info.setVol(agvDetail.getVol());
            info.setEmpty(agvModel.getBackpack() - (taskList == null ? 0 : taskList.size()));
            info.setError(agvDetail.getError());
            info.setLowVol(agvModel.getLowBattery());
            info.setAutoCharge(agvModel.getQuaBattery());
            List<BackpackVo> backpackVos = new ArrayList<>();
            BackpackVo backpackVo;
            List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
            List<BackpackDto> backpackDtos = GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class);
            for (int i = 1; i <= agvModel.getBackpack(); i++) {
                backpackVo = new BackpackVo();
                backpackVo.setIndex(i);
                List<Task> taskList1 = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getAgvId, agv.getId()).eq(Task::getBack, i).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
                //if (!Cools.isEmpty(taskIds)) {
                //    List<Segment> segments = segmentService.getByAgvAndTaskAndBackpack(agvDetail.getAgvId(), taskIds, backpackVo.getIndex());
                //   if (segments != null) {
                //      for (Segment segment : segments) {
                if (!Cools.isEmpty(taskList1)) {
                    backpackVo.setTaskId(taskList1.get(0).getId() + "");
                }
                //      }
                //    }
                BackpackDto backpackDto = backpackDtos.get(i);
                backpackVo.setLoaded(backpackDto.getLoaded());
                //backpackVo.setExecute(one.getTaskSts()==);
                //segments.stream().anyMatch(segment -> segment.getState().equals(SegmentStateType.RUNNING.toString()))
                //  }
                backpackVos.add(backpackVo);
            }
            info.setBackpack(backpackVos);
            result.add(info);
        }
        return result;
    }


}