package com.zy.acs.manager.manager.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.constant.MapItemType;
import com.zy.acs.manager.common.domain.MapAgvDto;
import com.zy.acs.manager.common.domain.MapCodeDto;
import com.zy.acs.manager.common.domain.MapDto;
import com.zy.acs.manager.common.domain.MapRouteDto;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.controller.param.MapDataParam;
import com.zy.acs.manager.manager.controller.param.MapParam;
import com.zy.acs.manager.manager.controller.result.MapAgvVo;
import com.zy.acs.manager.manager.controller.result.MapPointVo;
import com.zy.acs.manager.manager.controller.result.MapRouteVo;
import com.zy.acs.manager.manager.entity.NavMap;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.NavMapMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.util.*;
import java.util.stream.Collectors;

/**
 * Created by vincent on 2023/6/1
 */
@RestController
@RequestMapping("/api/map")
public class MapController extends BaseController {

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private CodeGapService codeGapService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private FloydNavigateService floydNavigateService;
    @Autowired
    private MapService mapService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private NavMapMapper navMapMapper;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private LocService locService;
    @Autowired
    private ConfigService configService;

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/startupOrShutdown")
    public synchronized R startupOrShutdown() {
        Boolean taskAssignMode = configService.getVal("TaskAssignMode", Boolean.class);
        return configService.setVal("TaskAssignMode", !taskAssignMode) ? R.ok() : R.error();
    }

    @PreAuthorize("hasAuthority('manager:loc:list')")
    @PostMapping("/data/fetch")
    public R fetch(@RequestParam(required = false) Long zoneId, @RequestParam(required = false) Integer floor) {
        // code
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
        List<MapItem> mapCodeItems = new ArrayList<>();
        codeList.forEach(code -> {
            MapItem mapItem = new MapItem();
            mapItem.setType(MapItemType.POINT.toString());
            mapItem.setNo(code.getData());
            mapItem.setUuid(code.getUuid());
            mapItem.setPositionX(code.getX());
            mapItem.setPositionY(code.getY());
            mapCodeItems.add(mapItem);
        });
        // common
        NavMap activeNavMap = navMapMapper.selectActive(zoneId, floor);
        return R.ok().add(Cools
                .add("rcsStatus", configService.getVal("TaskAssignMode", Boolean.class))
                .add("point", GsonUtils.toJson(mapCodeItems))
                .add("common", activeNavMap.getData())
        );
    }

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/data/save")
    @Transactional
    public R save(@RequestBody MapDataParam param) {
        Date now = new Date();
        Long userId = getLoginUserId();
        // previous
        NavMap previousNavMap = navMapMapper.selectActive(param.getZoneId(), param.getFloor());
        if (null != previousNavMap) {
            previousNavMap.setActive(0);
            previousNavMap.setUpdateTime(now);
            previousNavMap.setUpdateBy(userId);
            if (0 == navMapMapper.updateById(previousNavMap)) {
                throw new CoolException("Save Fail");
            }
        }
        // current
        NavMap navMap = new NavMap();
        navMap.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        navMap.setZoneId(param.getZoneId());
        navMap.setFloor(param.getFloor());
        navMap.setData(GsonUtils.toJson(param.getItemList()));
        navMap.setActive(1);
        navMap.setUpdateBy(userId);
        navMap.setCreateBy(userId);
        if (0 == navMapMapper.insert(navMap)) {
            throw new CoolException("Save Fail");
        }
        return R.ok("Save Success");
    }

    @PostMapping("/shelf/group")
    public R shelfGroup(@RequestParam(required = false) Integer row, @RequestParam(required = false) Integer bay) {
        if (null == row || null == bay) {
            return R.error();
        }
        List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getRow, row).eq(Loc::getBay, bay).orderByAsc(Loc::getLev));
        return R.ok().add(locList);
    }

    @PostMapping("/agv/info")
    public R agvInfo(@RequestParam(required = false) String agvNo) {
        if (Cools.isEmpty(agvNo)) {
            return R.error();
        }
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvNo(agvNo);
        MapAgvVo vo = new MapAgvVo();
        vo.setAgvId(agv.getId());
        vo.setAgvNo(agv.getUuid());
        vo.setStatus(agv.getStatus());
        if (null != agvDetail) {
            vo.setOnline(agvService.judgeOnline(agvDetail.getAgvId()));
            vo.setAgvStatus(agvDetail.getStatusDesc());
            vo.setVol(String.valueOf(agvDetail.getVol()));
            vo.setSoc(String.valueOf(agvDetail.getSoc()));
            vo.setPos(agvDetail.getPos() != null && agvDetail.getPos() == 1);
            vo.setCode(codeService.getById(agvDetail.getRecentCode()).getData());
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
        }
        List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
        if (!Cools.isEmpty(tasks)) {
            vo.setTaskIds(tasks.stream().map(Task::getId).collect(Collectors.toList()));
        }
        return R.ok().add(vo);
    }

    @PostMapping("/point/info")
    public R pointInfo(@RequestParam(required = false) String codeData) {
        if (Cools.isEmpty(codeData)) {
            return R.error();
        }
        Code code = codeService.selectByData(codeData);
        MapPointVo vo = new MapPointVo();
        vo.setCodeId(code.getId());
        vo.setCodeData(code.getData());
        vo.setStatus(code.getStatus());
        return R.ok().add(vo);
    }

    @PostMapping("/route/list")
    public R routeList(@RequestParam(required = false) Long zoneId) {
        List<MapRouteVo> result = new ArrayList<>();
        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, 1));
        for (Route route : routeList) {
            MapRouteVo vo = new MapRouteVo();
            vo.setRouteId(route.getId());
            vo.setStartCode(route.getStartCode());
            vo.setStartCodeStr(route.getStartCode$());
            vo.setEndCode(route.getEndCode());
            vo.setEndCodeStr(route.getEndCode$());
            vo.setDirection(route.getDirection());
            result.add(vo);
        }
        return R.ok().add(result);
    }



















    @PreAuthorize("hasAuthority('map:save')")
    @PostMapping("/save")
    @Transactional
    public R save(@RequestBody MapParam param) {
        Date now = new Date();

        // code -----------------------------------------------------------------
        List<Code> codes = codeService.list();
        List<Code> codeArr = param.getCodeArr();
        for (Code code : codeArr) {
            Code one = codeService.selectByData(code.getData());
            if (one == null) {
                if (!codeService.save(code)) {
                    throw new BusinessException(code.getData()+" save fail![Code]");
                }
            } else {
                one.setUpdateTime(now);
                if (!codeService.updateById(one)) {
                    throw new BusinessException(code.getData()+" update fail![Code]");
                }
            }
            codes.removeIf(next -> code.getData().equals(next.getData()));
        }
        for (Code code : codes) {
            if (!codeService.removeById(code.getId())) {
                throw new BusinessException(code.getData()+" remove fail![Code]");
            }
        }

        // code -----------------------------------------------------------------
        // gap  -----------------------------------------------------------------
        List<Route> routes = routeService.list();
        List<CodeGap> codeGaps = codeGapService.list();

        List<MapParam.Route> routeArr = param.getRouteArr();
        for (MapParam.Route paramRoute : routeArr) {
            Code startCode = codeService.selectByData(paramRoute.getStartCode());
            Code endCode = codeService.selectByData(paramRoute.getEndCode());

            Route route = routeService.findByCodeOfBoth(startCode.getId(), endCode.getId());
            if (route == null) {
                route = new Route();
                route.setUuid(startCode.getData()+"-"+endCode.getData());
                route.setStartCode(startCode.getId());
                route.setEndCode(endCode.getId());
                route.setDirection(paramRoute.getType());
                route.setCodeArr(JSON.toJSONString(Arrays.asList(startCode.getId(), endCode.getId())));
                if (!routeService.save(route)) {
                    throw new BusinessException(route.getUuid()+" save fail![Route]");
                }
            } else {
                route.setUpdateTime(now);
                if (!routeService.updateById(route)) {
                    throw new BusinessException(route.getUuid()+" update fail![Route]");
                }
            }

            Iterator<Route> iterator = routes.iterator();
            while (iterator.hasNext()) {
                Route next = iterator.next();
                if ((next.getStartCode().equals(route.getStartCode()) && next.getEndCode().equals(route.getEndCode()))
                    || (next.getStartCode().equals(route.getEndCode()) && next.getEndCode().equals(route.getStartCode()))) {
                    iterator.remove();
                    break;
                }
            }


            CodeGap codeGap = codeGapService.findByCodeOfBoth(startCode.getId(), endCode.getId());
            double distance = mapService.calculateDistance(startCode.getX(), startCode.getY(), endCode.getX(), endCode.getY());
            if (null == codeGap) {
                codeGap = new CodeGap();
                codeGap.setCode0(startCode.getId());
                codeGap.setCode1(endCode.getId());
                codeGap.setDistance(distance);
                if (!codeGapService.save(codeGap)) {
                    throw new BusinessException(route.getUuid()+" save fail![CodeGap]");
                }
            } else {
                codeGap.setDistance(distance);
                if (!codeGapService.updateById(codeGap)) {
                    throw new BusinessException(route.getUuid()+" update fail![CodeGap]");
                }
            }

            Iterator<CodeGap> gapIterator = codeGaps.iterator();
            while (gapIterator.hasNext()) {
                CodeGap next = gapIterator.next();
                if ((next.getCode0().equals(route.getStartCode()) && next.getCode1().equals(route.getEndCode()))
                        || (next.getCode0().equals(route.getEndCode()) && next.getCode1().equals(route.getStartCode()))) {
                    gapIterator.remove();
                    break;
                }
            }

        }
        for (Route route : routes) {
            if (!routeService.removeById(route.getId())) {
                throw new BusinessException(route.getUuid()+" remove fail![Route]");
            }
        }
        for (CodeGap codeGap : codeGaps) {
            if (!codeGapService.removeById(codeGap.getId())) {
                throw new BusinessException(codeGap.getId()+" remove fail![CodeGap]");
            }
        }

        // agv  -----------------------------------------------------------------
        List<Agv> agvList = agvService.list();
        List<MapParam.Agv> agvArr = param.getAgvArr();
        for (MapParam.Agv agvParam : agvArr) {
            if (Cools.isEmpty(agvParam.getPos())) {
                throw new BusinessException(agvParam.getAgvNo() + " agv not in position！");
            }
            Code code = codeService.selectByData(agvParam.getPos());
            Agv agv = agvService.selectByUuid(agvParam.getAgvNo());
            if (agv == null) {
                agv = new Agv();
                agv.setAgvSts(AgvStsType.IDLE.val());
                agv.setUuid(agvParam.getAgvNo());
                agv.setStage(agvParam.getStage());
                agv.setMemo(agvParam.getMemo());
                if (!agvService.save(agv)) {
                    throw new BusinessException(agv.getUuid()+" save fail![Agv]");
                }
                agvDetailService.removeByAgvId(agv.getId());
                AgvDetail agvDetail = new AgvDetail();
                agvDetail.setAgvId(agv.getId());
                agvDetail.setPos(1);
                agvDetail.setCode(code.getId());
                if (!agvDetailService.save(agvDetail)) {
                    throw new BusinessException(agv.getUuid()+" save fail![AgvDetail]");
                }
            } else {
                agv.setStage(agvParam.getStage());
                agv.setMemo(agvParam.getMemo());
                agv.setUpdateTime(now);
                if (!agvService.updateById(agv)) {
                    throw new BusinessException(agv.getUuid()+" update fail![Agv]");
                }
                AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                if (null == agvDetail) {
                    agvDetail = new AgvDetail();
                    agvDetail.setAgvId(agv.getId());
                    agvDetail.setPos(1);
                    agvDetail.setCode(code.getId());
                    if (!agvDetailService.save(agvDetail)) {
                        throw new BusinessException(agv.getUuid()+" save fail![AgvDetail]");
                    }
                } else {
                    agvDetail.setPos(1);
                    agvDetail.setCode(code.getId());
                    agvDetail.setUpdateTime(now);
                    if (!agvDetailService.updateById(agvDetail)) {
                        throw new BusinessException(agv.getUuid()+" update fail![AgvDetail]");
                    }
                }
            }

            agvList.removeIf(next -> agvParam.getAgvNo().equals(next.getUuid()));
        }
        for (Agv agv : agvList) {
            if (!agvService.removeById(agv.getId())) {
                throw new BusinessException(agv.getUuid()+" remove fail![Agv]");
            }
        }


        floydNavigateService.generateMatrix();
        return R.ok("保存成功");
    }

    @PreAuthorize("hasAuthority('map:load')")
    @GetMapping("/load")
    public R load() {
        MapDto mapDto = new MapDto();
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
        for (Code code : codeList) {
            MapCodeDto codeDto = new MapCodeDto();
            codeDto.setData(code.getData());
            codeDto.setScale(JSON.parseObject(code.getScale()));
            codeDto.setX(code.getX());
            codeDto.setY(code.getY());
            codeDto.setMemo(code.getMemo());
            mapDto.getCodeList().add(codeDto);
        }
        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, 1));
        for (Route route : routeList) {
            MapRouteDto routeDto = new MapRouteDto();
            routeDto.setUuid(route.getUuid());
            routeDto.setStartCode(route.getStartCode$());
            routeDto.setEndCode(route.getEndCode$());
            routeDto.setDirection(route.getDirection());
            mapDto.getRouteList().add(routeDto);
        }
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().ne(Agv::getAgvSts, AgvStsType.DISABLED.val()).eq(Agv::getStatus, 1));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Code currCode = codeService.getById(agvDetail.getCode());
            MapAgvDto agvDto = new MapAgvDto();
            agvDto.setUuid(agv.getUuid());
            agvDto.setCurrCode(currCode==null?null:currCode.getData());
            agvDto.setStage(agv.getStage());
            mapDto.getAgvList().add(agvDto);
        }
        return R.ok().add(mapDto);
    }

}