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

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
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.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

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

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final int WEIGHT_CALC_FACTOR = 10000;

    @Autowired
    private CodeService codeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private MapService mapService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private JamService jamService;

    /**
     * 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;
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

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

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);


        RetreatNavigateNode finialNode = null;

        PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
        Set<RetreatNavigateNode> existNodes = new HashSet<>();

        openQueue.add(start);
        existNodes.add(start);
        boolean phaseSecond = true;

        while (!openQueue.isEmpty() && null == finialNode) {

            RetreatNavigateNode currentNode = openQueue.poll();

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

            List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
            boolean pointOfTurn = neighborNodes.size() >= 2;
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

                int weight = 0;

                // wave
                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);
                    for (String otherWave : otherWaveList) {
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_FACTOR;
                        }
                    }
                }

                // lane
                if (pointOfTurn) {
                    List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                    if (!Cools.isEmpty(laneCodeIdxList)) {
                        Set<String> lanVehicleSet = new HashSet<>();

                        for (int[] codeMatrixIdx : laneCodeIdxList) {
                            // overlap with sponsor
                            String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                            String laneVehicle = laneDynamicNode.getVehicle();
                            assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                            if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                if (!laneVehicle.equals(agvNo)) {
                                    lanVehicleSet.add(laneVehicle);
                                }
                            }
                        }
                        if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                            phaseSecond = false;    // there is a running way
                            continue;
                        }
                        if (lanVehicleSet.contains(sponsor)) {
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }

                }

                Code code = codeService.getCacheByData(node.getCodeData());

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
                List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
                for (Segment runningSeg : runningSegments) {
                    if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
                            .eq(Jam::getAvoSeg, runningSeg.getId())
                            .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
                        weight += WEIGHT_CALC_FACTOR * 3;
                    } else {
                        weight += WEIGHT_CALC_FACTOR;
                    }
                }

                // 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 && phaseSecond) {
//            assert openQueue.size() == 0;

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

            RetreatNavigateNode availablePointOfTurn = null;
            List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
            int actualLanesOfTurn = 0;
            int filterPointOfTurnTimes = 0;

            while (!openQueue.isEmpty() && null == finialNode) {

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

                List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);

                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
                    // 计算是否为可用转弯点
                    if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                        filterPointOfTurnTimes ++;
                        if (filterPointOfTurnTimes > 2) { break; }

                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                            if (!Cools.isEmpty(laneCodeIdxList)) {
                                Set<String> lanVehicleSet = new HashSet<>();

                                for (int[] codeMatrixIdx : laneCodeIdxList) {
                                    DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                                    String laneVehicle = laneDynamicNode.getVehicle();
                                    assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                                    if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                        if (!laneVehicle.equals(agvNo)) {
                                            lanVehicleSet.add(laneVehicle);
                                        }
                                    }
                                }
                                if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                                    continue;
                                }
                            }

                            actualLanesOfTurn ++;
                        }

                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actualLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        } else {
                            actualLanesOfTurn = 0;
                        }
                    }
                }

                // 延伸转弯点巷道
                label: for (RetreatNavigateNode node : neighborNodes) {
                    int weight = 0;

                    // wave
                    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);
                        for (String otherWave : otherWaveList) {
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (mapService.isWalkingByVehicle(lev, otherWave)) {

                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;
                                }
                                continue label;
                            } else {
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }
                    }

                    if (null != availablePointOfTurn) {
                        if (!availablePointWaveScopeOfTurn.contains(node.getCodeData())) {
                            enableNodes.add(node);
                        }
                    }

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

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

                if (actualLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actualLanesOfTurn = 0;
                } else {
                    if (!Cools.isEmpty(enableNodes)) {
                        Collections.sort(enableNodes);
                        finialNode = enableNodes.stream().findFirst().orElse(null);
                        jam.setCycleAvo(1);
                    }
                }

            }

        }

        return finialNode;
    }

    // 获取四周节点
    private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {

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

        List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();

        List<RetreatNavigateNode> possibleNodes = Arrays.asList(
                new RetreatNavigateNode(x, y + 1), // right
                new RetreatNavigateNode(x, y - 1), // left
                new RetreatNavigateNode(x - 1, y), // up
                new RetreatNavigateNode(x + 1, y)  // down
        );

        possibleNodes.parallelStream()
                .map(extendNode -> extendNeighborNodes(currentNode, extendNode, existNodes, null, null))
                .filter(Objects::nonNull)
                .peek(node -> node.setCodeData(codeMatrix[node.getX()][node.getY()]))
                .forEach(neighbourNodes::add);

        return neighbourNodes;
    }

    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<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);
        }

        assert mapMatrix[x][y] == MapNodeType.ENABLE.val;

        if (existNodes.contains(nextNode)) {
            return null;
        }

        // 判断通过性
        String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
        if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
            return null;
        }

        return nextNode;
    }

    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());
    }

}