package com.zy.acs.manager.core;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.stream.Collectors;

/**
 * Created by vincent on 11/15/2024
 */
@RestController
@RequestMapping("/demo")
public class DemoController extends BaseController {

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private CodeService codeService;
    @Autowired
    private JdbcTemplate jdbcTemplate;
    @Autowired
    private LocService locService;
    @Autowired
    private TrafficService trafficService;
    @Autowired
    private ThreadPoolRegulator threadPoolRegulator;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;
    @Autowired
    private RouteGenerator routeGenerator;
    @Autowired
    private FuncStaService funcStaService;
    @Autowired
    private AgvModelService agvModelService;

    @RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
    public R systemInfo() {
        return R.ok("RCS-FLOW-1.0.0");
    }

    // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
    // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
    @RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
    public R demo() {
        long startTime = System.currentTimeMillis();
        for (int i = 0; i < 1000; i++) {
            this.demo1();
        }
        System.out.println(System.currentTimeMillis() - startTime);
        return R.ok();
    }

    private R demo1() {
        List<String> path = new ArrayList<>();
        path.add("00000035");
        path.add("00000085");
        path.add("00000135");
        path.add("00000185");
        path.add("00000235");
        path.add("00000234");
        path.add("00000233");
        path.add("00000232");
        path.add("00000231");
        path.add("00000230");
        path.add("00000229");
        path.add("00000228");
        path.add("00000227");
        path.add("00000226");
        path.add("00000225");
        path.add("00000224");
        path.add("00000223");
        path.add("00000222");

//        List<int[]> codeMatrixIdxList = new ArrayList<>();
//        for (String pathStr : path) {
//            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, pathStr);
//            codeMatrixIdxList.add(codeMatrixIdx);
//        }

//        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);

//        System.out.println(codeMatrixIdxList.toString());

//        return R.ok().add(codeMatrixIdxList);

        for (String codeData : path) {
            Code code = codeService.getCacheByData(codeData);
            Code byId = codeService.getCacheById(code.getId());
        }

        return R.ok();
    }

//    @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
//    public R generate() {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
//        List<String> list = routeGenerator.generateRoutes(codeMatrix);
//        return R.ok(String.valueOf(list.size())).add(list);
//    }

    // http://localhost:8088/demo/auto/go/standby
    @GetMapping("/auto/go/standby")
    public R autoGoStandby() {

        List<FuncSta> standbyFunStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
                .eq(FuncSta::getStatus, StatusType.ENABLE.val)
                .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
                .orderByAsc(FuncSta::getId));

        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val).    orderByAsc(Agv::getId));

        int size = Math.min(standbyFunStaList.size(), agvList.size());

        for (int i = 0; i < size; i++) {

            FuncSta funcSta = standbyFunStaList.get(i);
            Code code = codeService.getCacheById(funcSta.getCode());

            Agv agv = agvList.get(i);
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            Double workDirection = agvModel.getWorkDirection();

            agvDetail.setPos(1);
            agvDetail.setCode(code.getId());
            agvDetail.setStatus(AgvStatusType.IDLE.val);
            agvDetail.setAgvAngle(workDirection);
            agvDetail.setVol(5000);

            agvDetailService.updateById(agvDetail);
        }

        avoidWaveCalculator.calcDynamicNodeWhenBoot();

//        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
//        agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
//        agvDetailService.updateById(agvDetail11);
//
//        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
//        agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
//        agvDetailService.updateById(agvDetail12);
//
//        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
//        agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
//        agvDetailService.updateById(agvDetail14);
//
//        avoidWaveCalculator.calcDynamicNodeWhenBoot();
//
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
//                codeService.getCacheByData("00000303").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
//                codeService.getCacheByData("00000411").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
//                codeService.getCacheByData("00000403").getData(), null);

        return R.ok();
    }

    // http://localhost:8088/demo/auto/go/patrol?count=10
    @GetMapping("/auto/go/patrol")
    public R autoGoPatrol(@RequestParam(required = false, defaultValue = "5") Integer count) {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));

        // stop
        if (count == 0) {
            for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
                if (patrolService.isPatrolling(agvNo)) {
                    patrolService.shutdownPatrol(agvNo);
                }
            }
            return R.ok();
        }

        // start
        Collections.shuffle(list);
        if (list.size() > count) {
            list = list.subList(0, count);
        }
        int result = 0;
        for (Agv agv : list) {
            patrolService.startupPatrol(agv.getUuid());
            result++;
        }
        return R.ok().add(result);
    }


    @Autowired
    private MapService mapService;
    @Autowired
    private SegmentService segmentService;

    @GetMapping("/astarDemo") // astar spend time: 3866, count:3855
    public R astarDemo() {
        long startTime = System.currentTimeMillis();
        List<String> path = mapService.checkoutPath("18"
                , codeService.getCacheByData("00001318")
                , codeService.getCacheByData("00003447")
                , true
                , new ArrayList<>()
                , segmentService.getById(1390));
        System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));
        return R.ok().add(path);
    }

}