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

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.config.RedisProperties;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
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.Code;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.DependsOn;
import org.springframework.core.io.ClassPathResource;
import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.io.File;
import java.io.InputStream;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.ReentrantLock;

/**
 * Created by vincent on 8/6/2024
 */
@Slf4j
@Component
@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {

    private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);

    private static final int LOCK_TIMEOUT = 5;

    private ExecutorService singleThreadExecutor;

    private File pythonFile = null;

    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapService mapService;
    @Autowired
    private RedisProperties redisProperties;

    @PostConstruct
    @SuppressWarnings("all")
    public void execute() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {
            try { Thread.sleep(500); } catch (InterruptedException ignore) {}

            this.calcDynamicNodeWhenBoot();
        });
    }


    public boolean calcWaveScope(AgvModel agvModel) {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        boolean lockAcquired = false;

        long startTime = System.currentTimeMillis();

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
                return false;
            }

//            return this.calcWaveScopeByPython(lev);
            return this.calcWaveScopeByJava(lev, agvModel);

        } catch (Exception e) {

            log.error(this.getClass().getSimpleName(), e);
            return false;
        } finally {

            if (lockAcquired) {
                lock.unlock();
            }

            long during = System.currentTimeMillis() - startTime;
            if (during > 50) {
                log.info("滤波函数花费时间为：{}毫秒......", during);
            }
        }
    }

//    private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
//        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
//            log.warn("There is no diameter or diameter value was wrong...");
//        }
//
//        // python
//        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
//        if (null == pythonFile) {
//            pythonFile = loadPythonFile();
//        }
//
//        ProcessBuilder processBuilder = new ProcessBuilder(
//                "python" // 或者 "python3" 取决于系统配置
//                , pythonFile.getAbsolutePath()
//                , String.valueOf(avoidDistance)
//                , redisProperties.getHost()
//                , redisProperties.getPassword()
//                , String.valueOf(redisProperties.getPort())
//                , String.valueOf(redisProperties.getIndex())
//        );
//
//        processBuilder.redirectErrorStream(true);
//
//        Process process = processBuilder.start();
//
//        BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
//        String line;
//        StringBuilder builder = new StringBuilder();
//        while ((line = reader.readLine()) != null) {
//            builder.append(line);
//        }
//
//        int exitCode = process.waitFor();
//        if (exitCode != 0) {
//            log.error("Python script exited with error code: {}", exitCode);
//            log.error("python error:{}", builder.toString());
//            return false;
//        }
//        reader.close();
//
//        if (builder.length() <= 0) {
//            return false;
//        }
//
//        String result = builder.toString();
//
//        if (Cools.isEmpty(result)) {
//            return false;
//        }
//        if (!"1".equals(result)) {
//            log.error("Failed to call python");
//            return false;
//        }
//
//        return true;
//    }

    private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
//        assert null != agvModel.getDiameter();
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // 当前调度车型的最大旋转半径
        double bufferRadius = MapDataUtils.buildFootprint(agvModel).maxExtent();

        Map<String, VehicleFootprint> footprintCache = new HashMap<>();

        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();
                if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
                    continue;
                }
                String codeData = codeMatrix[i][j];
                if (CodeNodeType.NONE.val.equals(codeData)) {
                    continue;
                }

                VehicleFootprint footprint = footprintCache.computeIfAbsent(vehicle, this::loadFootprint);

                double radius = footprint.maxExtent() + bufferRadius;
                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, radius);

//                List<NavigateNode> includeList;
//                Double nodeDirection = dynamicNode.getDirection();
//                if (dynamicNode.isTurn()) {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                } else if (nodeDirection != null) {
//                    double headingRad = Math.toRadians(90 - nodeDirection);
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
//                } else {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                }

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                    waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                }
            }
        }

        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
        return true;
    }

    private VehicleFootprint loadFootprint(String agvNo) {
        AgvModel model = agvModelService.getByAgvNo(agvNo);
        if (model == null) {
            throw new CoolException(agvNo + " does not have an model.");
        }
        return MapDataUtils.buildFootprint(model);
    }

    private File loadPythonFile() {
        File scriptFile = null;
        try {
            Resource resource = new ClassPathResource("agv.py");

            InputStream is = resource.getInputStream();
            scriptFile = File.createTempFile("agv", ".py");
            scriptFile.deleteOnExit();

            Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);

            boolean executable = scriptFile.setExecutable(true);
        } catch (Exception e) {
            throw new RuntimeException(e);
        }
        return scriptFile;
    }

    public void calcDynamicNodeWhenBoot() {
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);

        for (Agv agv : agvList) {
            calcDynamicNodeByVehicle(agv, dynamicMatrix);
        }
    }

    public void calcDynamicNodeByVehicle(Agv agv, DynamicNode[][] dynamicMatrix) {
        if (null == dynamicMatrix) {
            dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        }
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
        if (null == agvDetail) {
            return;
        }
        if (agvDetail.getPos() == null) {
            return;
        }
        Long recentCode = agvDetail.getRecentCode();
        if (null == recentCode) {
            return;
        }
        Code code = codeService.getById(recentCode);
        if (null == code) {
            return;
        }
        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, code.getData());
        DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
        String vehicle = dynamicNode.getVehicle();
        if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
            mapDataDispatcher.modifyDynamicMatrix(
                    null,
                    Utils.singletonList(codeMatrixIdx),
                    agv.getUuid(),
                    Utils.singletonList(new PathDto(code.getData(), MapService.mapToNearest(agvDetail.getAgvAngle())))
            );
        }
    }

    @PreDestroy
    public void destroy() {
        this.singleThreadExecutor.shutdownNow();
    }

}