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.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
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 javax.annotation.PostConstruct;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 字典数据Service实现
 *
 * @author vincent
 * @since 2020-03-14 11:29:04
 */
@Slf4j
@Service
public class AgvServiceImpl extends ServiceImpl<AgvMapper, Agv> implements AgvService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    private static final Map<String, Long> AGV_ID_MAP = new HashMap<>();

    private static final Map<Long, String> AGV_NO_MAP = new HashMap<>();

    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskService taskService;

    @PostConstruct
    public void init() {
        for (Agv agv : this.list()) {
            AGV_ID_MAP.put(agv.getUuid(), agv.getId());
            AGV_NO_MAP.put(agv.getId(), agv.getUuid());
        }
    }

    @Override
    public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
        return new PageResult<>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
    }

    @Override
    public Agv selectByUuid(String uuid) {
        return this.getOne(new LambdaQueryWrapper<Agv>().eq(Agv::getUuid, uuid));
    }

    @Override
    public Long getAgvId(String uuid) {
        if (Cools.isEmpty(uuid)) {
            return null;
        }
        return AGV_ID_MAP.get(uuid);
    }

    @Override
    public String getAgvNo(Long agvId) {
        if (Cools.isEmpty(agvId)) {
            return null;
        }
        return AGV_NO_MAP.get(agvId);
    }


    @Override
    public Boolean judgeEnable(Long agvId) {
        return this.judgeEnable(agvId, false);
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
        }
        if (!this.judgeOnline(agvId)) {
            log.warn("[{}]号Agv不是在线状态......", agvNo);
            return false;
        }
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (null == agvDetail) {
            log.warn("[{}]号Agv未收到状态包......", agvNo);
            return false;
        }
        if (agvDetail.getVol() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                return false;
            }
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getPos() != 1) {
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
            if (null == agvDetail.getRecentCode()) {
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
        }
        // with battery
        if (isLowBattery) {
            Agv agv = this.getById(agvId);
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agvNo);
                return false;
            }
        }

        return true;
    }

    @Override
    public Boolean judgeOnline(Long agvId) {
        Agv agv = this.getById(agvId);
        return redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid()) != null;
    }

    @Override
    public List<VehicleDto> getVehicleDtoList(List<String> noIncluded) {
        List<VehicleDto> res = new ArrayList<>();
        List<Agv> list = this.list(new LambdaQueryWrapper<Agv>());
        for (Agv agv : list) {
            if (!Cools.isEmpty(noIncluded)) {
                if (noIncluded.contains(agv.getUuid())) {
                    continue;
                }
            }
            AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
            VehicleDto dto = new VehicleDto();
            dto.setVehicle(agv.getUuid());
            dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
            res.add(dto);
        }
        return res;
    }

    @Override
    public Integer getBackpack(Agv agv) {
//        if (null != agv.getStage()) {
//            return agv.getStage();
//        }
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        assert null != agvModel;
        return agvModel.getBackpack();
    }

    @Override
    public Agv findByPosition(Long codeId) {
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
//                .eq(Agv::getStatus, StatusType.ENABLE.val)
        );
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) {
                continue;
            }
            if (null == agvDetail.getRecentCode()) {
                continue;
            }
            if (agvDetail.getRecentCode().equals(codeId)) {
                return agv;
            }
        }
        return null;
    }

}