package com.zy.acs.manager.core.scheduler.test;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.CodeServiceImpl;
import com.zy.acs.manager.manager.service.impl.TaskServiceImpl;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

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

@Slf4j
@Component
public class AutoRunScheduler {

    private static final AgvModelType DEFAULT_AGV_MODEL = AgvModelType.CTU_BOX_TRANSPORT_AGV;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
    @Autowired
    private BusService busService;
    @Autowired
    private MainService mainService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private LocService locService;
    @Autowired
    private StaService staService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private AreaGovernService areaGovernService;
    @Autowired
    private CodeServiceImpl codeService;
    @Autowired
    private AreaAgvService areaAgvService;
    @Autowired
    private AreaService areaService;
    @Autowired
    private TaskServiceImpl taskService;

    //    @Scheduled(fixedRate = 500) // 固定频率执行，不同步
    @Scheduled(fixedDelay = 1000) // 固定频率执行，同步
//    @Scheduled(cron = "0/1 * * * * ? ")
    private void execute() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            return;
        }
        Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
        if (!maintainLocSts) {
            log.error("failed to run auto agv task, the maintainLocSts is false");
            return;
        }
        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, DEFAULT_AGV_MODEL.toString()));
        if (null == agvModel) {
            return;
        }

        this.autoRun(agvModel);
    }

    private void autoRun(AgvModel agvModel) {
        int availableAgvCount = this.getAvailableAgvCount();
        if (0 == availableAgvCount) {
            log.error("failed to run auto agv task, 跑库区域无可用小车");
            return;
        }

//        List<String> staPreNos = getStaPrefixes(staGroupList);
        List<String> staPreNos = new ArrayList<>();
        String memo = "DEMO_STA_" + String.join("-", staPreNos);
        List<String> codes = getTestAreaCodes();
        if (codes.isEmpty()) {
            log.error("failed to run auto agv task, 未配置跑库区域");
            return;
        }
        // 入库
        this.runStaToLoc(agvModel, codes, memo);
        // 出库
        this.runLocToSta(agvModel, codes, memo);
        // 移库
        this.runLocToLoc(agvModel, codes, memo);
    }

    // 入库
    private void runStaToLoc(AgvModel agvModel, List<String> codes, String memo) {


        // STOCK STA
        List<Sta> stockList = staService.queryAvailableOutSta(1);
        List<Sta> staList = new ArrayList<>();
        for (Sta sta : stockList) {
            if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
                List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
                if ((sta.getCapacity() - sta.getRsvInCnt()) > (list.isEmpty() ? 0 : list.size())) {
                    staList.add(sta);
                }
            }
        }
        if (Cools.isEmpty(staList)) {
            return;
        }
        Collections.shuffle(staList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(agvModel.getBackpack(), staList.size()); i++) {
            Sta stockSta = staList.get(i);

            Loc idleLoc = getLocByLocSts(LocStsType.IDLE.val(), codes);

            if (null == idleLoc) {
                break;
            }

            TaskDto taskDto = new TaskDto();
            taskDto.setOriSta(stockSta.getStaNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setPriority(100);
            taskDto.setTaskNo(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTasks().add(taskDto);
        }
        if (Cools.isEmpty(param.getTasks())) {
            return;
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 出库
    private void runLocToSta(AgvModel agvModel, List<String> codes, String memo) {

        // IDLE STA
        List<Sta> idleList = staService.queryAvailableInSta(1);
        List<Sta> staList = new ArrayList<>();
        for (Sta sta : idleList) {
            if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
                List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
                if ((sta.getCapacity() - sta.getRsvOutCnt()) > (list.isEmpty() ? 0 : list.size())) {
                    staList.add(sta);
                }
            }
        }
        if (Cools.isEmpty(staList)) {
            return;
        }
        Collections.shuffle(staList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(agvModel.getBackpack(), staList.size()); i++) {
            Sta idleSta = staList.get(i);

            Loc stockLoc = getLocByLocSts(LocStsType.STOCK.val(), codes);


            if (null == stockLoc) {
                break;
            }

            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestSta(idleSta.getStaNo());
            taskDto.setPriority(100);
            taskDto.setTaskNo(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTasks().add(taskDto);
        }
        if (Cools.isEmpty(param.getTasks())) {
            return;
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 移库
    private void runLocToLoc(AgvModel agvModel, List<String> codes, String staTaskMemo) {
        String memo = "DEMO_LOC";

        int availableAgvCount = this.getAvailableAgvCount();

        // 最多 ? 组bus运行
        if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
                .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
                .in(Bus::getMemo, memo, staTaskMemo)
        )) {
            return;
        }

        int maxCapacity = agvModel.getBackpack();

        // STOCK
        List<Loc> stockLocList = getAllLocByLocSts(LocStsType.STOCK.val(), codes);
        if (Cools.isEmpty(stockLocList)) {
            return;
        }
        Collections.shuffle(stockLocList);

        // IDLE
        List<Loc> idleLocList = getAllLocByLocSts(LocStsType.IDLE.val(), codes);
        if (Cools.isEmpty(idleLocList)) {
            return;
        }
        Collections.shuffle(idleLocList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(maxCapacity, Math.min(stockLocList.size(), idleLocList.size())); i++) {
            Loc stockLoc = stockLocList.get(i);
            Loc idleLoc = idleLocList.get(i);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setTaskNo(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTasks().add(taskDto);
        }
        if (Cools.isEmpty(param.getTasks())) {
            return;
        }

        mainService.generateBusAndTask(param, memo);
    }


    public Loc getLocByLocSts(Long locSts, List<String> codes) {
        List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
        Collections.shuffle(list);
        for (Loc loc : list) {
            if (codes.contains(loc.getCode$())) {
                return loc;
            }
        }
        return null;
    }

    public List<Loc> getAllLocByLocSts(Long locSts, List<String> codes) {
        List<Loc> data = new ArrayList<>();
        List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
        Collections.shuffle(list);
        for (Loc loc : list) {
            if (codes.contains(loc.getCode$())) {
                data.add(loc);
            }
        }
        return data;
    }


    public List<String> getTestAreaCodes() {
        String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
        if (Cools.isEmpty(taskAssignModeArea)) {
            List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
            return list.stream().map(Code::getData).collect(Collectors.toList());
        }
        List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
        if (list.isEmpty()) {
            return Collections.emptyList();
        }
        return areaGovernService.queryCodes(list.stream().map(Area::getId).collect(Collectors.toList()));
    }

    public List<Long> getTestAreaAgvs() {
        String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
        if (Cools.isEmpty(taskAssignModeArea)) {
            List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
            return list.stream().map(Agv::getId).collect(Collectors.toList());
        }
        List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
        if (list.isEmpty()) {
            return Collections.emptyList();
        }
        List<AreaAgv> list1 = areaAgvService.list(new LambdaQueryWrapper<AreaAgv>().in(AreaAgv::getAreaId, list.stream().map(Area::getId).collect(Collectors.toList())));
        return list1.stream().map(AreaAgv::getAgvId).collect(Collectors.toList());
    }

    public static List<String> getStaPrefixes(List<String> staGroupList) {
        Set<String> rowSet = new HashSet<>();
        for (String s : staGroupList) {
            rowSet.add(s.split("-")[0]);
        }
        List<String> result = new ArrayList<>(rowSet);
        result.sort(Comparator.comparingInt(Integer::parseInt));
        return result;
    }

    private int getAvailableAgvCount() {
        int res = 0;
        List<Long> testAreaAgvs = getTestAreaAgvs();
        for (Long agvId : testAreaAgvs) {
            String agvNo = agvService.getAgvNo(agvId);
            Agv agv = agvService.selectByUuid(agvNo);
            if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
                continue;
            }
            if (!agv.getStatusBool()) {
                continue;
            }
            res++;
        }

        return res;
    }

}