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

import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Route;
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 com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

/**
 * Created by vincent on 7/25/2024
 */
@Slf4j
@Service
public class RetreatNavigateService {

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private MapService mapService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvModelService agvModelService;

    /**
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
     **/
//    @SuppressWarnings("all")
    public RetreatNavigateNode execute(String agvNo, RetreatNavigateNode start, List<String> avoidPathList, String sponsor, Jam jam) {
        if (Cools.isEmpty(avoidPathList)) {
            return null;
        }
        Integer lev = null;

        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
                , MapDataConstant.IDLE_DISTANCE_COE);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);



        RetreatNavigateNode finialNode = null;

        PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
        ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();

        openQueue.add(start);
        existNodes.add(start);

        while (openQueue.size() > 0 && null == finialNode) {

            RetreatNavigateNode currentNode = openQueue.poll();

            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

            ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
            for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

                int weight = 0;

                String waveNode = waveMatrix[node.getX()][node.getY()];
                assert !waveNode.equals(WaveNodeType.DISABLE.val);
                if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                    List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                    if (!Cools.isEmpty(otherWaveList)) {

                        if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
                            continue;
                        }

                        weight += otherWaveList.size();
                    }
                }

                // enable
                if (!avoidPathListWave.contains(node.getCodeData())) {
                    enableNodes.add(node);
                }

                int gCost = calcNodeCost(currentNode, node);

                //进行计算对 G, F, H 等值
                node.setLastDistance(gCost);
                node.initNode(currentNode, weight);

                openQueue.add(node);
                existNodes.add(node);

            }

            if (!Cools.isEmpty(enableNodes)) {
                Collections.sort(enableNodes);
                finialNode = enableNodes.stream().findFirst().orElse(null);
                jam.setCycleAvo(0);
            }
        }


        if (null == finialNode) {
//            assert openQueue.size() == 0;

            existNodes.clear();
            openQueue.add(start);
            existNodes.add(start);

            RetreatNavigateNode firstPointOfTurn = null;
            List<String> firstPointWaveScopeOfTurn = new ArrayList<>();

            while (openQueue.size() > 0 && null == finialNode) {

                RetreatNavigateNode currentNode = openQueue.poll();
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                int forks = neighborNodes.size();
                if (firstPointOfTurn == null && forks >= 2 && !isSame(start, currentNode)) {
                    firstPointOfTurn = currentNode;
                    firstPointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, firstPointOfTurn.getCodeData(), avoidDistance)
                            .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                }

                for (RetreatNavigateNode node : neighborNodes) {

                    int weight = 0;

                    String waveNode = waveMatrix[node.getX()][node.getY()];
                    assert !waveNode.equals(WaveNodeType.DISABLE.val);
                    if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                        List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                        List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                        if (!Cools.isEmpty(otherWaveList)) {

                            weight += otherWaveList.size();
                        }
                    }

                    // have cross turn road
                    if (null != firstPointOfTurn) {
                        if (!firstPointWaveScopeOfTurn.contains(node.getCodeData())) {
                            enableNodes.add(node);
                        }
                    }

                    node.setLastDistance(calcNodeCost(currentNode, node));
                    node.initNode(currentNode, weight);

                    openQueue.add(node);
                    existNodes.add(node);
                }

                if (!Cools.isEmpty(enableNodes)) {
                    Collections.sort(enableNodes);
                    finialNode = enableNodes.stream().findFirst().orElse(null);
                    jam.setCycleAvo(1);
                }

            }

        }

        return finialNode;
    }

    private int calcNodeWeightVal(List<String> otherWaveList) {
        int weightVal = 0;

        if (!Cools.isEmpty(otherWaveList)) {


        }


        return weightVal;
    }

    // 获取四周节点
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {

        int x = currentNode.getX();
        int y = currentNode.getY();

        ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>();

        RetreatNavigateNode rightNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y + 1), existNodes, null, null);
        if (null != rightNode) {
            neighbourNodes.add(rightNode);
        }

        RetreatNavigateNode leftNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y - 1), existNodes, null, null);
        if (null != leftNode) {
            neighbourNodes.add(leftNode);
        }

        RetreatNavigateNode topNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x - 1, y), existNodes, null, null);
        if (null != topNode) {
            neighbourNodes.add(topNode);
        }

        RetreatNavigateNode bottomNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x + 1, y), existNodes, null, null);
        if (null != bottomNode) {
            neighbourNodes.add(bottomNode);
        }

        return neighbourNodes;
    }

    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
        RetreatNavigateNode nextNode;

        if (null == dx || null == dy) {
            dx = extendNode.getX() - currentNode.getX();
            dy = extendNode.getY() - currentNode.getY();
            nextNode = extendNode;
        } else {
            nextNode = new RetreatNavigateNode(extendNode.getX() + dx, extendNode.getY() + dy);
        }

        int x = nextNode.getX();
        int y = nextNode.getY();

        // 数组越界
        int[][] mapMatrix = mapDataDispatcher.getMapMatrix(null, null);
        if (x < 0 || x >= mapMatrix.length
                || y < 0 || y >= mapMatrix[0].length) {
            return null;
        }

        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

            return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);

        } else {
            if (this.isExist(nextNode, existNodes)) {
                return null;
            }

            // 节点是否可用
            if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
                return null;
            }

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
            String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
            String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
            nextNode.setCodeData(nextNodeCodeData);

            // 判断通过性
            Route route = routeService.findByCodeOfBoth(
                    codeService.selectByData(currentNodeCodeData).getId(),
                    codeService.selectByData(nextNodeCodeData).getId()
            );
            if (null == route) {
                return null;
            }

        }

        return nextNode;
    }

    private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
        for (RetreatNavigateNode existNode : existNodes) {
            if (this.isSame(node, existNode)) {
                return true;
            }
        }
        return false;
    }

    private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {
        if (Cools.isEmpty(o1, o2)) {
            return false;
        }
        return o1.getX() == o2.getX() && o1.getY() == o2.getY();
    }

    private int calcNodeCost(RetreatNavigateNode node1, RetreatNavigateNode node2) {

        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }

}