package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.github.xingshuangs.iot.protocol.modbus.service.ModbusRtuOverTcp;
import com.zy.acs.charge.ChargeCoreService;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.core.integrate.wms.FaultReportService;
import com.zy.acs.manager.core.integrate.wms.TaskReportService;
import com.zy.acs.manager.core.service.ChargeService;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.time.Instant;
import java.time.ZoneId;
import java.util.Date;
import java.util.List;
import java.util.Optional;
import java.util.Set;

/**
 * judge whether agv go to funcSta which be charging or standby
 * Created by vincent on 2023/9/9
 */
@Slf4j
@Component
public class MaintainScheduler {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private FuncStaService funcStaService;
    @Autowired
    private UplinkProperties uplinkProperties;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskReportService taskReportService;
    @Autowired
    private VehFaultRecService vehFaultRecService;
    @Autowired
    private FaultReportService faultReportService;
    @Autowired
    private ChargeService chargeService;
    @Autowired
    private ChargeCoreService chargeCoreService;


    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void autoCharge() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            return;
        }
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus()) {
                continue;
            }
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                continue;
            }
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getAgvId, agv.getId())
                        .and(i -> {
                            i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                                    .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                    .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                        })
                )) {
                    continue;
                }
                if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                                .eq(Segment::getAgvId, agv.getId())
                                .and(i -> {
//                                i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                                    i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                                })
                )) {
                    continue;
                }

                mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
            }
        }
    }


    @Scheduled(cron = "0/1 * * * * ? ")
//    @Scheduled(cron = "0 */2 * * * ? ")
    private synchronized void autoStandby() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            return;
        }
        if (!configService.getVal("automaticStandbyPosition", Boolean.class)) {
            return;
        }

        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
                continue;
            }
            // low battery status, that need to go to charge
//            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
//                continue;
//            }
            // 存在充电标记，跳过
            if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null) {
                continue;
            }
            // is charging ?
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
                    continue;
                }
            }
            // already on standby code ?
            if (0 < funcStaService.count(new LambdaQueryWrapper<FuncSta>()
                    .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
                    .eq(FuncSta::getCode, agvDetail.getRecentCode())
            )) {
                continue;
            }
            // has running tasks ?
            if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                    .eq(Task::getAgvId, agv.getId())
                    .and(i -> {
                        i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                                .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                    })
            )) {
                continue;
            }
            // the time between the latest task and now that be must more that @{param} seconds
//            if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
            Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
            if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
                Task latestTask = taskService.findLatestTask(agv.getId(), null);
                if (null != latestTask) {
                    long seconds = DateUtils.diffToSeconds(
                            Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
                            , new Date()
                    );
                    if (seconds < intervalOfAutoStandby) {
                        continue;
                    }
                }
            } else {
                continue;
            }
//            }

            mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
        }
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    private void reportTaskToUplink() {
        if (!uplinkProperties.getEnabled()) {
            return;
        }
        List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
                .in(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString(), TaskUplinkStateType.FAILED.toString())
                .eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
                .isNotNull(Task::getBusId)
        );
        if (Cools.isEmpty(taskList)) {
            return;
        }
        for (Task task : taskList) {
            boolean finished = taskReportService.reportFinished(task);
            if (finished) {
                task.setUplinkSts(TaskUplinkStateType.SUCCESS.toString());
            } else {
                log.error("failed to report task to uplink: {}", task.getSeqNum());
                task.setUplinkSts(TaskUplinkStateType.FAILED.toString());
            }
            taskService.updateById(task);
        }

    }

    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void releaseFuncSta() {
        List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
        for (FuncSta funcSta : funcStaList) {
            boolean beIdle = funcStaService.isCanBeIdle(funcSta);
            if (beIdle) {
                funcSta.setState(FuncStaStateType.IDLE.toString());
                funcSta.setUpdateTime(new Date());
                if (!funcStaService.updateById(funcSta)) {
                    log.error("FuncSta [{}] failed to be idle ！！！", funcSta.getName());
                }
            }
        }
    }


    @Scheduled(cron = "0/3 * * * * ? ")
    private void reportFault() {
        String reportFaultUrl = configService.getVal("reportFaultUrl", String.class);
        if (Cools.isEmpty(reportFaultUrl)) {
            return;
        }
        List<VehFaultRec> vehFaultRecList = vehFaultRecService.list((new LambdaQueryWrapper<VehFaultRec>().eq(VehFaultRec::getState, VehFaultRecStateType.PENDING).ge(VehFaultRec::getHappenTime, Instant.now().minusSeconds(3).atZone(ZoneId.systemDefault()).toLocalDateTime())));
        if (Cools.isEmpty(vehFaultRecList)) {
            return;
        }
        for (VehFaultRec vehFaultRec : vehFaultRecList) {
            boolean finished = faultReportService.reportFinished(vehFaultRec, reportFaultUrl);
            if (finished) {
                vehFaultRec.setState(VehFaultRecStateType.REPORT_SUCCESS.name());
            } else {
                log.error("failed to report vehFaultRec to uplink");
                vehFaultRec.setState(VehFaultRecStateType.REPORT_FAILED.name());
            }
            vehFaultRecService.updateById(vehFaultRec);
        }

    }

    /**
     * 调度对接充电桩
     */
    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void startCharge() {
        Set<String> mapKeys = redis.getMapKeys(RedisConstant.AGV_CHARGE_FLAG);
        for (String key : mapKeys) {
            Integer status = redis.getMap(RedisConstant.AGV_CHARGE_FLAG, key);
            if (null == status) {
                continue;
            }
            AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
            FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
            ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTcp) {
                continue;
            }
            switch (status) {
                case 1:
                    // 后退信号消失，说明马达正在前进
                    if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
                        chargeCoreService.startCharging(modbusTcp);
                    }
                    if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
                        double current = chargeCoreService.getCurrent(modbusTcp);
                        double voltage = chargeCoreService.getVoltage(modbusTcp);
                        if (current > 0 && voltage > 0) {
                            redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
                            log.info("charge complete");
                        } else {
                            log.info("read charge current and voltage: {},{}", current, voltage);
                        }
                    }
                    break;

                case 2:
                    AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
                    if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
                        // 前进信号存在，说明机械臂未伸回
                        if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
                            chargeCoreService.stopCharging(modbusTcp);
                        }
                        if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
                            redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
                            log.info("charge over");
                        }
                    }
                    break;
                default:
                    log.error("charge status error: {}", status);
                    break;
            }
        }
    }


}