package com.zy.acs.common.domain.protocol;

import com.zy.acs.framework.common.RadixTools;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.utils.Utils;
import lombok.Data;

import java.io.Serializable;
import java.util.ArrayList;
import java.util.List;

/**
 * 路径数据包
 * Created by vincent on 2023/3/16
 */
@Data
public class AGV_01_DOWN implements IMessageBody, Serializable {

    private static final long serialVersionUID = -2786382674008041014L;

    @Override
    public byte[] writeToBytes() {
        String serialNo = Utils.zeroFill(this.serialNo, 16);
        byte[] serialNoBytes = Utils.reverse(serialNo.getBytes());
        byte pathLen = (byte) actionItems.size();

        byte[] pathBytes = new byte[0];
        for (AgvActionItem<? extends IActionBody> item : actionItems) {
            byte[] bytes = RadixTools.intToBytes(Integer.parseInt(item.getQrCode()));
            byte[] qrCodeBytes = Utils.reverse(bytes);
            byte actionCodeByte = (byte) item.getActionCmdType().actionCode;
            byte valByte = (byte) item.getVal();
            byte[] actionBodyBytes = item.getActionBody().writeToBytes();
            byte[] merge = Utils.merge(qrCodeBytes, actionCodeByte, valByte, actionBodyBytes);
            pathBytes = Utils.merge(pathBytes, merge);
        }

        return Utils.merge(serialNoBytes, pathLen, pathBytes);
    }

    @Override
    public void readFromBytes(byte[] messageBodyBytes) {

    }

    // 流水号 - 16
    private String serialNo;

    // 路径长度
    private int pathLen;

    // 路径列表
    private List<AgvActionItem<? extends IActionBody>> actionItems = new ArrayList<>();

}