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

import com.alibaba.fastjson.JSON;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.protocol.AGV_12_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
 * Created by vincent on 2023/6/16
 */
@Slf4j
@Service
public class AgvDataService {

    private final static Boolean PRINT_LOG = Boolean.FALSE;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private WebsocketService websocketService;
    @Autowired
    private TrafficService trafficService;
    @Autowired
    private MapService mapService;
    @Autowired
    private ThreadPoolRegulator threadPoolRegulator;
    @Autowired
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private FaultProcessor faultProcessor;

    @Async
    public void dataProcess(AgvProtocol protocol) {
        Date now = new Date();

        IMessageBody msgBody = protocol.getMessageBody();
        assert msgBody != null;

        Long agvId = agvService.getAgvId(protocol.getAgvNo());
        if (null == agvId) {
            log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            return;
        }
        AgvDetail detail = agvDetailService.selectByAgvId(agvId);
        if (null == detail) {
            detail = new AgvDetail();
            detail.setAgvId(agvId);
            if (!agvDetailService.save(detail)) {
                log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
                return;
            }
        }
        detail.setUpdateTime(now);

        // 有码实时数据包
        if (msgBody instanceof AGV_12_UP) {
            AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;

            // unlock path
            mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
//            threadPoolRegulator.getInstance().execute(() -> {
//
//            });
            // finish jam
            threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agvId, agv_12_up.getQrCode()));

//            websocketService.agvInfoBroadcastOnPos(new WebsocketDto<AGV_12_UP>("agv", agv.getUuid(), agv_12_up));
            this.sync(agv_12_up, detail);
//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up);
            if (PRINT_LOG) {
                log.info("Agv [{}] 有码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
            }
        }
        // 故障复位
        if (!Cools.isEmpty(detail.realError())) {
            assert detail.getErrorTime() != null;
            if (DateUtils.diffToSeconds(detail.getErrorTime(), new Date()) > 20) {
                detail.setError(MapDataConstant.EMPTY_OF_ERROR);
                faultProcessor.reset(agvId);
            }
        }

        if (!agvDetailService.updateById(detail)) {
            log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
        }

    }

    // 有码实时数据包
    private void sync(AGV_12_UP mesBody, AgvDetail detail) {
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {
            detail.setCode(code.getId());
            detail.setLastCode(null);
            detail.setPos(1);
//            if (!agvDetailService.updatePosCode(detail.getId(), code.getId())) {
//                log.error("Agv [{}] 更新定位数据失败 ！！！", agvService.getById(detail.getAgvId()).getUuid());
//            }
        } else {
            log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
        }

        // 地面码偏移
        detail.setCodeOffsert(JSON.toJSONString(Cools
                .add("offsetX", mesBody.getOffsetX())
                .add("offsetY", mesBody.getOffsetX())
                .add("groundCodeOffset0", mesBody.getGroundCodeOffset0())
        ));


        detail.setStraightVal((double) mesBody.getStraightDirectionPosition());

        detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());

        detail.setGyroAngle((double) mesBody.getGyroAngle());

        detail.setEncoderAngle((double) mesBody.getEncoderAngle());

        detail.setHigh(mesBody.getCurrentAltitude());

        detail.setSensorSts((long) mesBody.getSensorStatusFlags());

        List<BackpackDto> backpackDtoList = new ArrayList<>();
        backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
        backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
        backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
        backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
        backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
        backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
        backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
        detail.setBackpack(GsonUtils.toJson(backpackDtoList));

    }


}