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

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.mapper.FuncStaMapper;
import com.zy.acs.manager.manager.service.*;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

@Service("funcStaService")
public class FuncStaServiceImpl extends ServiceImpl<FuncStaMapper, FuncSta> implements FuncStaService {

    @Autowired
    private CodeService codeService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private TaskService taskService;

    @Override
    public FuncSta getByCodeAndType(Long codeId, String type) {
        List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getCode, codeId).eq(FuncSta::getType, type));
        if (Cools.isEmpty(list)) {
            return null;
        }
        return list.stream().findFirst().orElse(null);
    }

    @Override
    public FuncSta query(Long agvId, Long codeId, String type) {
        List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>()
                .eq(FuncSta::getAgvId, agvId)
                .eq(FuncSta::getCode, codeId)
                .eq(FuncSta::getType, type)
        );
        return list.stream().findFirst().orElse(null);
    }

    @Override
    public List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId) {
        LambdaQueryWrapper<FuncSta> wrapper = new LambdaQueryWrapper<FuncSta>()
                .eq(FuncSta::getType, type).eq(FuncSta::getStatus, StatusType.ENABLE.val);
        List<FuncSta> funcStaList = this.list(wrapper);

        if (Cools.isEmpty(funcStaList)) {
            return new ArrayList<>();
        }

        Collections.shuffle(funcStaList);
        // filter idle
        funcStaList = funcStaList.stream().filter(funcSta -> {

            Long code = funcSta.getCode();
            if (null == code) {
                return false;
            }

            Agv agv = agvService.findByPosition(code);

            if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
                // if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
                if (null != agv) {
                    AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
                    AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                            return false;
                        }
                    } else {
                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
                            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                                return false;
                            }
                        }
                    }
                }

                // if there is a running task whose destination is this funSta, then that means this funSta is occupied
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
                        .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                        .eq(Task::getDestCode, code)
                )) {
                    return false;
                }

            }

            if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) {

                if (null == agv) {
                    // if there is a running task whose destination is this funSta, then that means this funSta is occupied
                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
                            .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                            .eq(Task::getDestCode, code)
                    )) {
                        return false;
                    }

                } else {
                    // if there is an agv on the code of this funSta, should we let this agv leave?
                    // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type

//                    Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());

                }
            }

            return true;
        }).collect(Collectors.toList());

        return funcStaList;
    }

    @Override
    public FuncSta checkoutClosestFunSta(Long codeId, List<FuncSta> funcStaList) {
        if (Cools.isEmpty(funcStaList)) {
            return null;
        }

        if (null != codeId) {
            Code currCode = codeService.getById(codeId);
            Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};

            // checkout one funSta which is the closest

            // compare => compare返回负数，则排在集合前面 （asc）
            funcStaList.sort(new Comparator<FuncSta>() {
                @Override
                public int compare(FuncSta o1, FuncSta o2) {
                    Code o1Code = codeService.getById(o1.getCode());
                    int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});

                    Code o2Code = codeService.getById(o2.getCode());
                    int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});

                    return o1Distance - o2Distance;
                }
            });

        }

        return funcStaList.stream().findFirst().orElse(null);
    }

}