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

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Objects;

/**
 * Created by vincent on 2023/10/23
 */
@Slf4j
@Service
public class LiftCommandService {

    @Autowired
    private MotionService motionService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private LiftAction liftAction;

    public Boolean accept(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
        if (liftThread == null) {
            return false;
        }

        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null) {
            return false;
        }

        //判断提升机是否自动
        if (!liftThread.isIdle()) {
            return false;
        }

        if (motionService.count(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                .eq(Motion::getDevice, motion.getDevice())
                .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
            return false;
        }

        ArrayList<LiftCommand> list = new ArrayList<>();
        LiftAssignCommand assignCommand = new LiftAssignCommand();
        assignCommand.setLiftNo(liftProtocol.getLiftNo());
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setCommands(list);

        LiftCommand command = new LiftCommand();
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 如果已经在目标层，那边层过滤
                if (liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    liftThread.setSyncTaskNo(motion.getTaskNo());
                    break;
                }

                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
//                if (liftProtocol.getHasTray()) {
//                    return false;
//                }

                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                if (!liftProtocol.getHasCar()) {
                    return false;
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                return false;
//                if (!liftProtocol.getPlatShuttleCheck()) {
//                    return false;
//                }
//
//                command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
//                command.setLiftNo(deviceNo.shortValue());
//                command.setTaskNo(motion.getWrkNo().shortValue());
//                return liftThread.assignWork(command);
            case LIFT_TRANSPORT_TO_CONVEYOR:
                return false;
            default:
                break;

        }

        return Boolean.TRUE;
    }

    public Boolean finish(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
        if (liftThread == null) {
            return false;
        }
        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null) {
            return false;
        }

        if (liftProtocol.getRun() || liftProtocol.getTaskNo() != motion.getTaskNo().shortValue()) {
            return false;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }
                break;
            case LIFT_WITH_GOODS:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                    return false;
//                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

                break;
            case LIFT_WITH_SHUTTLE:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

                //检测是否有小车
                if (!liftProtocol.getHasCar()) {
                    return false;
                }
                break;
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getHasCar()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

                break;
            case LIFT_TRANSPORT_TO_CONVEYOR:

                break;
            default:
                return false;
        }

        liftThread.setSyncTaskNo(0);//清零工作号
        return true;
    }


}