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

import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Travel;
import com.zy.acs.manager.manager.enums.SegmentStateType;
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.Component;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
 * Wavefront
 * Created by vincent on 6/25/2024
 */
@Slf4j
@Component
public class TrafficZkdService {

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private TravelService travelService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private MainZkdService mainZkdService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private MapService mapService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private TaskService taskService;
    @Autowired
    private FuncStaService funcStaService;

    @Transactional
    public synchronized void trigger(Segment segment) {
        try {
            Date now = new Date();


            // temporary -----------------
            Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
            if (null != algoExtensionTime && algoExtensionTime > 0) {
                Thread.sleep(algoExtensionTime);
            }
            // ---------------------------

//            Travel travel = travelService.getById(segment.getTravelId());
//            Agv agv = agvService.getById(travel.getAgvId());
//            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
//            long endNode = segment.getEndNode();


//            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
//                return;
//            }
//            List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
//            if (!Cools.isEmpty(waitingSegList)) {
//                for (Segment waitingSeg : waitingSegList) {
//                    if (!waitingSeg.getId().equals(segment.getId())) {
////                        log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
//                        return;
//                    }
//                }
//            }

            List<Segment> segmentList = new ArrayList<>();
            segmentList.add(segment);

            List<String> pathList = new ArrayList<>();
            String[] split = segment.getPath().split(",");
            for (int i = 0; i < split.length; i++) {
                if (!Cools.isEmpty(split[i])) {
                    pathList.add(split[i]);
                }
            }
            mainZkdService.generateAction(segment.getAgvId(), segmentList, pathList, now);

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

        }
    }


}