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

import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.util.*;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

@Slf4j
@Service
public class PathQueueConsumer {

    private ExecutorService consumerExecutor;

    @Autowired
    private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;

    @PostConstruct
    public void init() {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;

        this.consumerExecutor = Executors.newSingleThreadExecutor();
        this.consumerExecutor.execute(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(30);
                    List<UnlockPathTask> tasks = new ArrayList<>();
                    // if unlockTaskQueue was empty, then block
                    tasks.add(unlockTaskQueue.take());
                    unlockTaskQueue.drainTo(tasks);

                    if (!Cools.isEmpty(tasks)) {
                        long startTime = System.currentTimeMillis();

                        List<int[]> resetCodeIdxList = null;
                        if (tasks.size() == 1) {
                            resetCodeIdxList = this.getResetCodeList(lev, tasks.get(0));
                        } else if (tasks.size() > 1) {
//                            log.info("consumer task count:{}", tasks.size());
                            resetCodeIdxList = this.getResetCodeList(lev,tasks);
                        }

                        if (!Cools.isEmpty(resetCodeIdxList)) {
                            this.dealResetCodeList(lev, resetCodeIdxList);
                        }

//                        log.info("consumer unlock path spend time:{}", System.currentTimeMillis() - startTime);
                    }

                } catch (InterruptedException e) {
                    Thread.currentThread().interrupt();
                    log.error("PathQueueConsumer[Thread.currentThread.interrupt]", e);
                    break;
                } catch (Exception e) {
                    log.error("PathQueueConsumer", e);
                }
            }
        });
    }

    private List<int[]> getResetCodeList(Integer lev, List<UnlockPathTask> tasks) {
        if (Cools.isEmpty(tasks)) {
            return new ArrayList<>();
        }

        // 1.整理预处理数据
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

//        Set<String> codeDataSet = tasks.stream().map(UnlockPathTask::getCodeData).collect(Collectors.toSet());
        Set<String> agvNoSet = tasks.stream().map(UnlockPathTask::getAgvNo).collect(Collectors.toSet());

        Map<String, Set<String>> agvNoCodeDataMap = new HashMap<>();
        tasks.forEach(task -> agvNoCodeDataMap.computeIfAbsent(task.getAgvNo(), k -> new HashSet<>()).add(task.getCodeData()));


        // 2.获取agv的所有dynamic node，并且记录agv当前的dynamic node serial

        // agvNo : List<{code, serial}>
        Map<String, List<CodeSerial>> codeSerialMap = new HashMap<>();
        // agvNo : serial
        Map<String, Integer> agvNoSerialMap = new HashMap<>();


        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];

                if (agvNoSet.contains(dynamicNode.getVehicle())) {

                    String codeData = codeMatrix[i][j];
                    String vehicle = dynamicNode.getVehicle();
                    int serial = dynamicNode.getSerial();

                    List<CodeSerial> codeSerials = codeSerialMap.computeIfAbsent(vehicle, k -> new ArrayList<>());
                    codeSerials.add(new CodeSerial(new int[] {i, j}, serial));

                    if (agvNoCodeDataMap.get(vehicle).contains(codeData)) {
                        Integer agvNoSerial = agvNoSerialMap.get(vehicle);
                        if (null == agvNoSerial) {
                            agvNoSerialMap.put(vehicle, serial);
                        } else {
                            if (serial > agvNoSerial) {
                                agvNoSerialMap.put(vehicle, serial);
                            }
                        }

                    }

                }

            }
        }

        // 3.处理codeSerialMap，获取所有agv需要释放的code matrix list

        List<int[]> resetCodeIdxList = new ArrayList<>();

        for (Map.Entry<String, List<CodeSerial>> entry : codeSerialMap.entrySet()) {
            String agvNo = entry.getKey();
            List<CodeSerial> codeSerials = entry.getValue();

            Integer maxSerial = agvNoSerialMap.get(agvNo);

            for (CodeSerial codeSerial : codeSerials) {
                if (codeSerial.getSerial() < maxSerial) {
                    resetCodeIdxList.add(codeSerial.getCodeMatrixIdx());
                }
            }

        }

        return resetCodeIdxList;
    }

    private List<int[]> getResetCodeList(Integer lev, UnlockPathTask task) {
        if (null == task) {
            return new ArrayList<>();
        }
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        String agvNo = task.getAgvNo();
        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, task.getCodeData());

        DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
        int serial = dynamicNode.getSerial();

        List<int[]> resetCodeIdxList = new ArrayList<>();

        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {

                DynamicNode node = dynamicMatrix[i][j];
                if (node.getVehicle().equals(agvNo)) {
                    if (node.getSerial() < serial) {
                        resetCodeIdxList.add(new int[] {i, j});
                    }
                }
            }
        }

        return resetCodeIdxList;
    }

    private void dealResetCodeList(Integer lev, List<int[]> resetCodeIdxList) {
        if (Cools.isEmpty(resetCodeIdxList)) {
            return;
        }

        mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
    }

    @Data
    public static class CodeSerial {
        private String codeData;
        private int[] codeMatrixIdx;
        private int serial;

        public CodeSerial(int[] codeMatrixIdx, int serial) {
            this.codeMatrixIdx = codeMatrixIdx;
            this.serial = serial;
        }
    }

    @PreDestroy
    public void destroy() {
        if (this.consumerExecutor != null) {
            this.consumerExecutor.shutdown();
            try {
                if (!this.consumerExecutor.awaitTermination(5, TimeUnit.SECONDS)) {
                    this.consumerExecutor.shutdownNow();
                    if (!this.consumerExecutor.awaitTermination(5, TimeUnit.SECONDS)) {
                        log.error("this.consumerExecutor failed to shutdown");
                    }
                }
            } catch (InterruptedException ie) {
                this.consumerExecutor.shutdownNow();
                Thread.currentThread().interrupt();
            }
        }
    }

}