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

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;

import java.util.ArrayList;
import java.util.List;
import java.util.Optional;

/**
 * Created by vincent on 6/6/2024
 */
@Slf4j
public class MapDataDispatcher {

    public static final Integer MAP_DEFAULT_LEV = 1;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final Boolean CACHE_CODE_MATRIX = Boolean.FALSE;

    private String[][] codeMatrix;

    public static final Boolean CACHE_MAP_MATRIX = Boolean.FALSE;

    private int[][] mapMatrix;

    public static final Boolean CACHE_TURN_MATRIX = Boolean.FALSE;

    private int[][] turnMatrix;

    public static final Boolean CACHE_CDA_MATRIX = Boolean.FALSE;

    private String[][] cdaMatrix;

    private final CodeService codeService;

    private final RouteService routeService;

    public MapDataDispatcher(CodeService codeService, RouteService routeService) {
        this.codeService = codeService;
        this.routeService = routeService;
    }

    public String[][] getWaveMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        String[][] waveMatrix;
        String waveMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_WAVE_FLAG, String.valueOf(lev));
        if (Cools.isEmpty(waveMatrixStr)) {
            waveMatrix = this.initWaveMatrix(lev);
            setWaveMatrix(lev, waveMatrix);
        } else {
            waveMatrix = JSON.parseObject(waveMatrixStr, String[][].class);
        }
        if (null == waveMatrix) {
            throw new CoolException("the floor " + lev + " cannot found wave matrix !!!");
        }
        return waveMatrix;
    }

    public void setWaveMatrix(Integer lev, String[][] waveMatrix) {
        redis.setValue(RedisConstant.AGV_MAP_ASTAR_WAVE_FLAG, String.valueOf(lev), JSON.toJSONString(waveMatrix));
    }

    public DynamicNode[][] getDynamicMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        DynamicNode[][] dynamicMatrix;
        String dynamicMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev));
        if (Cools.isEmpty(dynamicMatrixStr)) {
            dynamicMatrix = this.initDynamicMatrix(lev);
            setDynamicMatrix(lev, dynamicMatrix);
        } else {
            dynamicMatrix = JSON.parseObject(dynamicMatrixStr, DynamicNode[][].class);
        }
        if (null == dynamicMatrix) {
            throw new CoolException("the floor " + lev + " cannot found dynamic matrix !!!");
        }
        return dynamicMatrix;
    }

    public void setDynamicMatrix(Integer lev, DynamicNode[][] dynamicMatrix) {
        redis.setValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev), JSON.toJSONString(dynamicMatrix));
    }

    public String[][] getCdaMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        String[][] cdaMatrix;

        if (!CACHE_CDA_MATRIX) {
            if (null == this.cdaMatrix) {
                cdaMatrix = this.initCdaMatrix(lev);
                setCdaMatrix(lev, cdaMatrix);
            } else {
                cdaMatrix = this.cdaMatrix;
            }
        } else {
            String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
            if (Cools.isEmpty(cdaMatrixStr)) {
                cdaMatrix = this.initCdaMatrix(lev);
                setCdaMatrix(lev, cdaMatrix);
            } else {
                cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
            }
        }
        if (null == cdaMatrix) {
            throw new CoolException("the floor " + lev + " cannot found cda matrix !!!");
        }
        return cdaMatrix;
    }

    public void setCdaMatrix(Integer lev, String[][] cdaMatrix) {
        if (!CACHE_CDA_MATRIX) {
            this.cdaMatrix = cdaMatrix;
        } else {
            redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
        }
    }

    public int[][] getTurnMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        int[][] turnMatrix;
        if (!CACHE_TURN_MATRIX) {
            if (null == this.turnMatrix) {
                turnMatrix = this.initTurnMatrix(lev);
                setTurnMatrix(lev, turnMatrix);
            } else {
                turnMatrix = this.turnMatrix;
            }
        } else {
            String turnMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev));
            if (Cools.isEmpty(turnMatrixStr)) {
                turnMatrix = this.initTurnMatrix(lev);
                setTurnMatrix(lev, turnMatrix);
            } else {
                turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
            }
        }
        if (null == turnMatrix) {
            throw new CoolException("the floor " + lev + " cannot found turn matrix !!!");
        }
        return turnMatrix;
    }

    public void setTurnMatrix(Integer lev, int[][] turnMatrix) {
        if (!CACHE_TURN_MATRIX) {
            this.turnMatrix = turnMatrix;
        } else {
            redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
        }
    }

    public int[][] getMapMatrix(Integer lev, List<String> lockNodes) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        int[][] mapMatrix;
        if (!CACHE_MAP_MATRIX) {
            if (null == this.mapMatrix) {
                mapMatrix = this.initMapMatrix(lev);
                setMapMatrix(lev, mapMatrix);
            } else {
                mapMatrix = this.mapMatrix;
            }
        } else {
            String mapMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev));
            if (Cools.isEmpty(mapMatrixStr)) {
                mapMatrix = this.initMapMatrix(lev);
                setMapMatrix(lev, mapMatrix);
            } else {
                mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
            }
        }
        if (null == mapMatrix) {
            throw new CoolException("the floor " + lev + " cannot found map matrix !!!");
        }
        if (!Cools.isEmpty(lockNodes)) {
            mapMatrix = filterMapData(mapMatrix, lev, lockNodes);
        }
        return mapMatrix;
    }

    public void setMapMatrix(Integer lev, int[][] mapMatrix) {
        if (!CACHE_MAP_MATRIX) {
            this.mapMatrix = mapMatrix;
        } else {
            redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
        }
    }

    public String[][] getCodeMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        String[][] codeMatrix;
        if (!CACHE_CODE_MATRIX) {
            if (null == this.codeMatrix) {
                codeMatrix = this.initCodeMatrix(lev);
                setCodeMatrix(lev, codeMatrix);
            } else {
                codeMatrix = this.codeMatrix;
            }
        } else {
            String codeMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev));
            if (Cools.isEmpty(codeMatrixStr)) {
                codeMatrix = this.initCodeMatrix(lev);
                setCodeMatrix(lev, codeMatrix);
            } else {
                codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
            }
        }
        if (null == codeMatrix) {
            throw new CoolException("the floor " + lev + " cannot found code matrix !!!");
        }
        return codeMatrix;
    }

    public void setCodeMatrix(Integer lev, String[][] codeMatrix) {
        if (!CACHE_CODE_MATRIX) {
            this.codeMatrix = codeMatrix;
        } else {
            redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
        }
    }

    public String[][] initWaveMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        String[][] waveMatrix = new String[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    waveMatrix[i][j] = WaveNodeType.DISABLE.val;
                } else {
                    waveMatrix[i][j] = WaveNodeType.ENABLE.val;
                }
            }
        }

        return waveMatrix;
    }

    public synchronized DynamicNode[][] initDynamicMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        DynamicNode[][] dynamicMatrix = new DynamicNode[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.BLOCK.val);
                } else {
                    dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.ACCESS.val);
                }
            }
        }

        return dynamicMatrix;
    }

    public synchronized String[][] initCdaMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    cdaMatrix[i][j] = CdaNodeType.DISABLE.val;
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    if (null != currCode) {
                        List<Double> cdaArr = new ArrayList<>();
                        cdaArr.add(currCode.getX());
                        cdaArr.add(currCode.getY());
                        cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
                    } else {
                        cdaMatrix[i][j] = CdaNodeType.EMPTY.val;
                    }
                }

            }
        }

        return cdaMatrix;
    }

    public synchronized int[][] initTurnMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        int[][] turnMatrix = new int[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    turnMatrix[i][j] = TurnNodeType.NONE.val;
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    List<String> neighborCodeList = routeService.findCodeDataOfSingle(currCode.getId());

                    switch (neighborCodeList.size()) {
                        case 0:
                        case 1:
                            turnMatrix[i][j] = TurnNodeType.STRAIGHT.val;
                            break;
                        case 2:
                            String firstCode = neighborCodeList.get(0); assert !Cools.isEmpty(firstCode);
                            String secondCode = neighborCodeList.get(1); assert !Cools.isEmpty(secondCode);

                            int[] firstIdx = this.getCodeMatrixIdx(lev, firstCode);
                            int[] secondIdx = this.getCodeMatrixIdx(lev, secondCode);

                            if (firstIdx[0] != secondIdx[0] && firstIdx[1] != secondIdx[1]) {
                                turnMatrix[i][j] = TurnNodeType.TURN.val;
                            } else {
                                turnMatrix[i][j] = TurnNodeType.STRAIGHT.val;
                            }

                            break;
                        default:
                            turnMatrix[i][j] = TurnNodeType.TURN.val;
                            break;
                    }
                }
            }
        }

//        System.out.println("====================================================");
//        printMatrix(turnMatrix);

        return turnMatrix;
    }
    

    public synchronized int[][] initMapMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        int[][] mapMatrix = new int[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    mapMatrix[i][j] = MapNodeType.DISABLE.val;
                } else {
                    mapMatrix[i][j] = MapNodeType.ENABLE.val;
                }
            }
        }

//        printMatrix(mapMatrix);

        return mapMatrix;
    }

    public synchronized String[][] initCodeMatrix(Integer lev) {
        log.info("【ASTAR】正在计算矩阵数据......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>()
                .eq(Code::getStatus, 1)
                .orderByAsc(Code::getY)
                .orderByAsc(Code::getX)
        );
//        int xCount = codeService.selectDistinctCountFromX();
//        int yCount = codeService.selectDistinctCountFromY();
//        // [][] 第一个是排的数量 第二个是列的数量
//        String[][] codeMatrix = new String[yCount][xCount];

        List<Double> xIdxList = new ArrayList<>();
        List<Double> yIdxList = new ArrayList<>();
        for (Code code : codeList) {
            Double x = code.getX();
            Double y = code.getY();
            if (!xIdxList.contains(x)) {
                xIdxList.add(x);
            }
            if (!yIdxList.contains(y)) {
                yIdxList.add(y);
            }
        }
        xIdxList.sort((o1, o2) -> (int) ((o1 * 100) - (o2 * 100)));
        yIdxList.sort((o1, o2) -> (int) ((o1 * 100) - (o2 * 100)));

        // [][] 第一个是排的数量 第二个是列的数量
        String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()];

        int idxX = -1;
        int idxY = -1;
        double lastX = -1;
        double lastY = -1;
        for (Code code : codeList) {
            Double x = code.getX();
            Double y = code.getY();
//            if (y != lastY) {
//                idxY ++;
//                idxX = 0;
//                lastY = y;
//                lastX = x;
//            }
//            if (x != lastX) {
//                idxX++;
//                lastX = x;
//            }
//            codeMatrix[idxY][idxX] = code.getData();

            codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData();
        }

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (codeMatrix[i][j] == null) {
                    codeMatrix[i][j] = CodeNodeType.NONE.val;
                }
            }
        }

        printMatrix(codeMatrix);

        return codeMatrix;
    }

    public int[] getCodeMatrixIdx(Integer lev, String codeData) {
        if (Cools.isEmpty(codeData)) {
            return null;
        }
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        String[][] codeMatrix = this.getCodeMatrix(lev);

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (codeMatrix[i][j].equals(codeData)) {
                    return new int[]{i, j};
                }
            }
        }
        return null;
    }

    public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
        List<String> nodes = new ArrayList<>();
        if (Cools.isEmpty(nodeType)) {
            return nodes;
        }
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
        String[][] codeMatrix = this.getCodeMatrix(lev);
        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (nodeType.equals(dynamicMatrix[i][j].getVehicle())) {
                    nodes.add(codeMatrix[i][j]);
                }
            }
        }
        return nodes;
    }

    public void modifyDynamicMatrix(Integer lev, List<String> codeList, String vehicle) {
        this.modifyDynamicMatrix(lev, codeList, vehicle, false);
    }

    public synchronized void modifyDynamicMatrix(Integer lev, List<String> codeList, String vehicle, boolean reset) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);

        if (!reset) {
            if (Cools.isEmpty(codeList, vehicle)) {
                return;
            }
            int serial = 1;
            for (String code : codeList) {
                int[] node = getCodeMatrixIdx(lev, code);
                dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial);
                serial++;
            }
        } else {
            if (Cools.isEmpty(vehicle)) {
                return;
            }
            for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {
                    DynamicNode dynamicNode = dynamicMatrix[i][j];
                    if (vehicle.equals(dynamicNode.getVehicle())) {
                        dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.ACCESS.val);
                    }
                }
            }
        }

        setDynamicMatrix(lev, dynamicMatrix);
    }

    public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeList) {
        this.modifyDynamicMatrix(lev, codeList, DynamicNodeType.ACCESS.val);
    }

    public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {
        String[][] codeMatrix = getCodeMatrix(lev);
        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                String code = codeMatrix[i][j];
                if (lockNodes.contains(code)) {
                    mapMatrix[i][j] = MapNodeType.LOCKED.val;
                }
            }
        }
        return mapMatrix;
    }

    public <T> void printMatrix(T[][] matrix) {
        for (T[] list : matrix) {
            for (T t : list) {
                System.out.format("%10s", t);
            }
            System.out.println();
        }
    }

    public void printMatrix(int[][] matrix) {
        for (int[] list : matrix) {
            for (int t : list) {
                System.out.format("%10s", t);
            }
            System.out.println();
        }
    }

}