package com.zy.asrs.wcs.core.kernel;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

/**
 * Created by vincent on 2023/10/9
 */
@Service(value = "kernelService")
public class KernelService {

    @Autowired
    private MotionService motionService;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private DeviceService deviceService;

    // agv -----------------------------------------------------------------------------
    @Deprecated
    public List<Motion> agvTransport() {
        List<Motion> motionList = new ArrayList<>();

        // 1.AGV搬运货物
        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.AGV.val());
            motion.setMotionCtg(MotionCtgType.AGV_TRANSPORT.val());
        }));

        return motionList;
    }

    // lift -----------------------------------------------------------------------------

    /**
     * 提升机移动
     */
    public List<Motion> liftMove(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));

            motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }
        }));

        return motionList;
    }

    /**
     * 提升机载货移动
     */
    public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));

            motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
                motion.setOriDrt(origin.getStaNo());//源站
            }
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
            motion.setTarDrt(target.getStaNo());//目标站

            if (target.getDevpNo() != null) {
                motion.setDockNo(String.valueOf(target.getDevpNo()));//输送线ID
            }

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }
        }));

        return motionList;
    }

    /**
     * 提升机搬运穿梭车
     */
    public List<Motion> liftMoveShuttle(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));

            motion.setMotionCtg(MotionCtgType.LIFT_WITH_SHUTTLE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }

            if (target.getTaskNo() != null) {
                motion.setTaskNo(target.getTaskNo());
            }

            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
        }));

        return motionList;
    }

    /**
     * 提升机载穿梭车与货移动
     */
    public List<Motion> liftMoveGoodsAndShuttle(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));

            motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS_AND_SHUTTLE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
        }));

        return motionList;
    }

    /**
     * 提升机载穿梭车与货移动
     */
    public List<Motion> liftTransportGoodsToConveyor(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(origin.getLiftNo()));

            motion.setMotionCtg(MotionCtgType.LIFT_TRANSPORT_TO_CONVEYOR.val());

            motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(origin.getLiftNo(), origin.getLev())));
            motion.setDockNo(String.valueOf(target.getDevpNo()));
            motion.setTarget(String.valueOf(target.getStaNo()));

        }));

        return motionList;
    }

    /**
     * 提升机锁定
     */
    public List<Motion> liftLock(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_LOCK.val());

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }
        }));

        return motionList;
    }

    /**
     * 提升机解锁
     */
    public List<Motion> liftUnlock(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_UNLOCK.val());

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }
        }));

        return motionList;
    }

    /**
     * 提升机-小车已到位
     */
    public List<Motion> liftShuttleArrival(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_ARRIVAL.val());
        }));

        return motionList;
    }

    /**
     * 提升机-小车已驶离
     */
    public List<Motion> liftShuttleLeave(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_LEAVE.val());
        }));

        return motionList;
    }

    // shuttle -----------------------------------------------------------------------------

    /**
     * 小车坐标更新
     */
    public List<Motion> shuttleUpdateLocation(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));
            motion.setMotionCtg(MotionCtgType.SHUTTLE_UPDATE_LOCATION.val());

            motion.setTarget(target.getLocNo());
        }));

        return motionList;
    }

    /**
     * 穿梭车空载移动
     */
    public List<Motion> shuttleMove(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));

            motion.setMotionCtg(motionCtgType.val());

            motion.setOrigin(origin.getLocNo());
            motion.setTarget(target.getLocNo());

            switch (motionCtgType) {
                case SHUTTLE_MOVE_FROM_LIFT://穿梭车移出提升机
                    motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
                    break;
                case SHUTTLE_MOVE_TO_LIFT://穿梭车移动到提升机
                    motion.setTemp(String.valueOf(target.getLiftNo()));//保存提升机号
                    break;
                case SHUTTLE_MOVE_FROM_CONVEYOR:
                    motion.setDockNo(String.valueOf(origin.getStaNo()));
                    break;
                case SHUTTLE_MOVE_TO_CONVEYOR:
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://穿梭车移出提升机去输送线
                    motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                    motion.setTarget(null);//等待自动搜索
                    motion.setTemp(target.getLocNo());//全部待机位
                    break;
                default:
                    break;
            }

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }

            if (target.getReleaseShuttle() != null) {
                motion.setReleaseShuttle(target.getReleaseShuttle());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }

            List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
            if (nodeList == null) {
                throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
            }
            motion.setMovePath(JSON.toJSONString(nodeList));

        }));

        return motionList;
    }

    /**
     * 穿梭车载货移动
     */
    public List<Motion> shuttleTransport(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));

            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case SHUTTLE_TRANSPORT_FROM_LIFT:
                    motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
                    break;
                case SHUTTLE_TRANSPORT_TO_LIFT:
                    motion.setTemp(String.valueOf(target.getLiftNo()));//保存提升机号
                    break;
                case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
                    motion.setDockNo(String.valueOf(origin.getStaNo()));
                    break;
                case SHUTTLE_TRANSPORT_TO_CONVEYOR:
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                default:
                    break;
            }

            motion.setOrigin(origin.getLocNo());
            motion.setTarget(target.getLocNo());
        }));

        return motionList;
    }

    /**
     * 穿梭车动作
     */
    public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));

            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case SHUTTLE_PALLET_LIFT://托盘顶升

                    break;
                case SHUTTLE_PALLET_DOWN://托盘下降

                    break;
                case SHUTTLE_CHARGE_ON://充电开

                    break;
                case SHUTTLE_CHARGE_OFF://充电关

                    break;
                default:
                    break;
            }

        }));

        return motionList;
    }

    // conveyor -----------------------------------------------------------------------------

    /**
     * 输送线入库
     */
    public List<Motion> conveyorInbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
            motion.setDevice(String.valueOf(origin.getDevpNo()));

            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case CONVEYOR_INBOUND:
                    motion.setTarget(String.valueOf(target.getStaNo()));
                    break;
                case CONVEYOR_INBOUND_TO_LIFT:
                    motion.setDockNo(String.valueOf(target.getLiftNo()));
                    motion.setTarget(String.valueOf(target.getLev()));
                    break;
                default:
                    break;
            }

            motion.setOrigin(String.valueOf(origin.getStaNo()));

        }));

        return motionList;
    }

    /**
     * 输送线出库
     */
    public List<Motion> conveyorOutbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
            motion.setDevice(String.valueOf(origin.getDevpNo()));

            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case CONVEYOR_OUTBOUND:
                    motion.setOrigin(String.valueOf(origin.getStaNo()));
                    break;
                case CONVEYOR_OUTBOUND_FROM_LIFT:
                    motion.setDockNo(String.valueOf(origin.getLiftNo()));
                    break;
                default:
                    break;
            }

            motion.setTarget(String.valueOf(target.getStaNo()));

        }));

        return motionList;
    }

    // Map -----------------------------------------------------------------------------

    /**
     * 地图路径锁定
     */
    public List<Motion> mapLockPath(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.MAP.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));
            motion.setMotionCtg(MotionCtgType.MAP_LOCK_PATH.val());

            motion.setTarget(target.getLocNo());
        }));

        return motionList;
    }

    /**
     * 地图路径解锁
     */
    public List<Motion> mapUnlockPath(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.MAP.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));
            motion.setMotionCtg(MotionCtgType.MAP_UNLOCK_PATH.val());

            motion.setTarget(target.getLocNo());
        }));

        return motionList;
    }

}