package com.zy.acs.manager.fake;

import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.core.scheduler.MapDataWsScheduler;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.ActionTypeType;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import lombok.extern.slf4j.Slf4j;

import java.util.List;
import java.util.Objects;

/**
 * Created by vincent on 11/11/2024
 */
@Slf4j
public class AgvSimulatorTask implements Runnable {

    private final Agv agv;
    private final AgvDetailService agvDetailService;
    private final ActionService actionService;
    private final CodeService codeService;
    private final MapService mapService;
    private final JamService jamService;
    private final MainService mainService;
    private final List<Action> actionList;

    private final RedisSupport redis;

    private final String groupId;

    public AgvSimulatorTask(
            Agv agv
            , RedisSupport redis
            , AgvDetailService agvDetailService
            , ActionService actionService
            , CodeService codeService
            , MapService mapService
            , JamService jamService
            , MainService mainService
            , List<Action> actionList
    ) {
        this.agv = agv;
        this.redis = redis;
        this.agvDetailService = agvDetailService;
        this.actionService = actionService;
        this.codeService = codeService;
        this.mapService = mapService;
        this.jamService = jamService;
        this.mainService = mainService;
        this.actionList = actionList;

        this.groupId = actionList.get(0).getGroupId();
    }

    @Override
    public void run() {
        try {
            String qrCode = null;
            for (Action action : actionList) {
                processAction(agv, action);
                qrCode = action.getCode();
            }
            this.finishActionList(qrCode);
        } catch (Exception e) {
            log.error("AgvSimulatorTask AGV[{}]", agv.getUuid(), e);
        } finally {
            FakeProcessor.AGV_PROCESSING_MAP.put(agv.getId(), false);
        }
    }

    private void processAction(Agv agv, Action action) throws InterruptedException {

        switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
            case TurnCorner:
                simulateWalking(agv, action);
                simulateRotating(agv, action);
                break;
            case StraightBackUnturnable:
            case StraightBackTurnable:
            case StraightAheadUnturnable:
            case StraightAheadTurnable:
            case FinishPath:
            case DockingCharge:
                simulateWalking(agv, action);
                break;
            case ReadyTakeFromShelvesLoc:
            case ReadyReleaseToShelvesLoc:
                break;
            default:
                log.warn("Unknown action type {} for AGV ID {}.", action.getActionType(), agv.getId());
                break;
        }
    }


    private void simulateWalking(Agv agv, Action action) throws InterruptedException {
        Code code = codeService.getCacheByData(action.getCode());
//        agvDetail.setPos(1);
//        agvDetail.setCode(code.getId());
        // 模拟电量消耗
//        agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 根据距离消耗电量

        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);

        agvDetailService.updatePosCodeByAgvId(agv.getId(), code.getId());
//        agvDetailService.updateById(agvDetail);

        mapService.unlockPath(agv.getUuid(), code.getData());
        jamService.checkIfFinish(agv.getId(), code.getData());

        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }

    /**
     * 模拟AGV旋转
     *
     * @param agv        当前AGV
     * @param action     当前动作
     */
    private void simulateRotating(Agv agv, Action action) throws InterruptedException {
        double actionAngle = Double.parseDouble(action.getParams());
//        agvDetail.setAgvAngle(actionAngle);
        // 模拟电量消耗?
//        agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量

        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);
        agvDetailService.updateAngleByAgvId(agv.getId(), actionAngle);
        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }

    private void finishActionList(String qrCode) {
        // 1.complete data
        AGV_11_UP agv_11_up = new AGV_11_UP();
        agv_11_up.setSerialNo(groupId);
        agv_11_up.setCompleteCode(AgvCompleteType.ENTIRE_PATH_COMPLETE.getCode());
        agv_11_up.setCompleteType(AgvCompleteType.ENTIRE_PATH_COMPLETE);
        agv_11_up.setQrCode(qrCode);

        AgvProtocol agvProtocol = AgvProtocol.build(this.agv.getUuid()).setMessageBody(agv_11_up);
        mainService.upDataSubscribe(agvProtocol);
//        redis.push(RedisConstant.AGV_COMPLETE_FLAG, agvProtocol);
    }
}