package com.zy.asrs.wcs.core.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.domain.dto.StartupDto;
import com.zy.asrs.common.domain.param.SearchLocParam;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.command.LedCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LedThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Autowired
    private TaskService taskService;
    @Autowired
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private LocCtgService locCtgService;
    @Autowired
    private LocService locService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private TaskCtgService taskCtgService;
    @Autowired
    private DictService dictService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasLedService basLedService;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateInboundWrk() {
        try {
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                    .eq(Device::getStatus, 1));
            for (Device devp : list) {
                BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
                // 遍历入库口
                for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "异常：";
                    if (staProtocol.isFrontErr()) {
                        errMsg = errMsg + "前超限；";
                        back = true;
                    }
                    if (staProtocol.isBackErr()) {
                        errMsg = errMsg + "后超限";
                        back = true;
                    }
                    if (staProtocol.isHighErr()) {
                        errMsg = errMsg + "高超限";
                        back = true;
                    }
                    if (staProtocol.isLeftErr()) {
                        errMsg = errMsg + "左超限";
                        back = true;
                    }
                    if (staProtocol.isRightErr()) {
                        errMsg = errMsg + "右超限";
                        back = true;
                    }
                    if (staProtocol.isWeightErr()) {
                        errMsg = errMsg + "超重";
                        back = true;
                    }
                    if (staProtocol.isBarcodeErr()) {
                        errMsg = errMsg + "扫码失败";
                        back = true;
                    }
                    // 退回
                    if (back) {
                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            ledThread.error(errMsg);
                        }
                        continue;
                    }

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                    ) {

                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                        String barcode = barcodeThread.getBarcode();
                        if (!Cools.isEmpty(barcode)) {
                            News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
                                staProtocol.setWorkNo((short) 32002);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.writeWorkSta(staProtocol.getSiteId(), (short) 32002, inSta.getBackSta().shortValue());

                                // led 异常显示
                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                                if (ledThread != null) {
                                    String errorMsg = "扫码失败，请重试";
                                    ledThread.error(errorMsg);
                                }
                                continue;
                            }
                        }

                        //获取入库任务类型
                        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                                .eq(TaskCtg::getStatus, 1));

                        // 判断重复工作档
                        Task task1 = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .eq(Task::getOriginSite, inSta.getStaNo())
                                .eq(Task::getTaskCtg, taskCtg.getId())
                                .in(Task::getTaskSts, 1, 2, 3)
                                .eq(Task::getZpallet, barcode));
                        if (task1 != null) {
                            News.error("工作档已存在,工作号={}", task1.getTaskNo());
                            continue;
                        }

                        try {
                            //获取WMS地址
                            Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
                            if (dict == null) {
                                News.error("WMS地址未配置");
                                continue;
                            }
                            String wmsUrl = dict.getValue();

                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(barcode);
                            param.setIoType(1);
                            param.setSourceStaNo(inSta.getStaNo());
                            param.setLocType1(staProtocol.getLocType1().shortValue());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v2")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                //获取输送路径
                                BasConveyorPath conveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
                                        .eq(BasConveyorPath::getTypeNo, TaskCtgType.IN.val())
                                        .eq(BasConveyorPath::getDeviceId, devp.getId())
                                        .eq(BasConveyorPath::getStnNo, staProtocol.getSiteId()));
                                if (conveyorPath == null) {
                                    News.error("输送路径不存在");
                                }else {
                                    devpThread.writeWorkSta(staProtocol.getSiteId(), dto.getWorkNo().shortValue(), conveyorPath.getDeviceStn().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                }
                            }else {
                                if (ledThread != null) {
                                    String errorMsg = jsonObject.getString("msg");
                                    if (!Cools.isEmpty(errorMsg)) {
                                        ledThread.error(errorMsg);
                                        ledThread.setLedMk(false);
                                    }
                                }
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 初始化实时地图
     */
    public synchronized void initRealtimeBasMap() {
        try {
            List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
                    .like(Dict::getFlag, "map-")
                    .eq(Dict::getStatus, 1));

            TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
            for (Dict dict : dicts) {
                String[] split = dict.getFlag().split("-");
                int lev = Integer.parseInt(split[1]);

                Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
                if (data != null) {
                    continue;
                }

                TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
                //排序Row
                JSONArray value = JSON.parseArray(dict.getValue());
                for (Object o : value) {
                    JSONObject item = JSON.parseObject(o.toString());
                    if (item.getString("type").equals("SHELF")) {
                        JSONObject property = JSON.parseObject(item.getString("property"));
                        Integer row1 = property.getInteger("row");
                        ArrayList<JSONObject> bays = new ArrayList<>();
                        if (rows.containsKey(row1)) {
                            bays.addAll(rows.get(row1));
                        }
                        bays.add(property);
                        rows.put(row1, bays);
                    }
                }

                ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
                //排序Bay
                for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
                    ArrayList<MapNode> nodes = new ArrayList<>();
                    for (JSONObject object : entry.getValue()) {
                        MapNode mapNode = new MapNode();
                        mapNode.setValue(object.getInteger("shelfType"));
                        mapNode.setTop(object.getInteger("top"));
                        mapNode.setBottom(object.getInteger("bottom"));
                        mapNode.setLeft(object.getInteger("left"));
                        mapNode.setRight(object.getInteger("right"));
                        mapNode.setRow(object.getInteger("row"));
                        mapNode.setBay(object.getInteger("bay"));
                        mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
                        mapNode.setXBase(object.getInteger("refx"));
                        mapNode.setYBase(object.getInteger("refy"));
                        nodes.add(mapNode);
                    }

                    Collections.sort(nodes, new Comparator<MapNode>() {
                        @Override
                        public int compare(MapNode o1, MapNode o2) {
                            return Integer.compare(o1.getBay(), o2.getBay());
                        }
                    });

                    ArrayList<MapNode> sortNodes = new ArrayList<>();
                    int defaultBay = 1;//默认从1列开始
                    for (MapNode node : nodes) {
                        if (node.getBay() == defaultBay) {
                            defaultBay++;
                            sortNodes.add(node);
                            continue;
                        }

                        //存在空缺节点，自动补足
                        for (int i = defaultBay; i < node.getBay(); i++) {
                            MapNode mapNode = new MapNode();
                            mapNode.setValue(-1);
                            mapNode.setTop(1000);
                            mapNode.setBottom(1000);
                            mapNode.setLeft(1000);
                            mapNode.setRight(1000);
                            mapNode.setRow(node.getRow());
                            mapNode.setBay(i);
                            mapNode.setNo(node.getRow() + "-" + i);
                            mapNode.setXBase(0);
                            mapNode.setYBase(0);
                            sortNodes.add(mapNode);
                        }

                        defaultBay = node.getBay() + 1;
                        sortNodes.add(node);
                    }

                    list.add(sortNodes);
                }

                levData.put(lev, list);
            }

            for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
                ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图

                MapNode mapNode = new MapNode();
                mapNode.setValue(-1);
                mapNode.setTop(1000);
                mapNode.setBottom(1000);
                mapNode.setLeft(1000);
                mapNode.setRight(1000);
                mapNode.setRow(0);
                mapNode.setBay(0);
                mapNode.setNo("0-0");
                mapNode.setXBase(0);
                mapNode.setYBase(0);

                //获取最长row
                int row = 0;
                //给每个row首尾增加-1节点
                for (ArrayList<MapNode> list : lists) {
                    if (list.size() > row) {
                        row = list.size();
                    }

                    list.add(0, mapNode.clone());
                    list.add(mapNode.clone());
                }

                //最后一次检测地图节点是否完整，地图矩阵row均要达到最长row
                for (ArrayList<MapNode> list : lists) {
                    int len = (row + 2);//row+2是因为头节点和尾节点存在人为添加的-1节点
                    if (list.size() == len) {
                        continue;
                    }
                    //节点长度不满足，进行补足
                    for (int i = list.size(); i < len; i++) {
                        list.add(mapNode.clone());
                    }
                }


                ArrayList<MapNode> headNodes = new ArrayList<>();
                ArrayList<MapNode> footerNodes = new ArrayList<>();
                for (int i = 0; i < row+2; i++) {
                    headNodes.add(mapNode.clone());
                    footerNodes.add(mapNode.clone());
                }

                lists.add(0, headNodes);
                lists.add(footerNodes);

                Integer lev = entry.getKey();
                Date now = new Date();
                RedisMapDto map = new RedisMapDto();
                map.setData(JSON.toJSONString(lists));
                map.setCreateTime(now);
                map.setUpdateTime(now);
                map.setLev(lev);

                //将地图数据存入redis
                redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_INBOUND.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    /**
     * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
     */
    public synchronized void analyzeOutBoundTask() {
        List<Task> tasks = taskService.selectPakOut();
        if (tasks.isEmpty()) {
            return;
        }

        for (Task task : tasks) {
            BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(task.getOriginSite());//获取源站
            if (originStaObj == null) {
                continue;
            }

            BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
            if(basConveyor == null) {
                continue;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(task.getOriginSite()));//源站
//            StaProtocol staProtocol1 = devpThread.getStation().get(Integer.parseInt(task.getDestSite()));//目标站
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
//                staProtocol1 = staProtocol1.clone();
            }

            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
//                if (!(staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.getWorkNo() == 0 && staProtocol1.isOutEnable())) {
//                    continue;
//                }

//                //同库位组校验
//                List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
//                List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
//                if (!outerLocMasts.isEmpty()) {
//                    News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
//                    continue;//浅库位存在未执行任务
//                }

                if (Cools.isEmpty(task.getShuttleNo())) {
                    //分配小车
                    //搜索空闲车
                    ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                    if (shuttleThread == null) {
                        News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                        continue;
                    }

                    task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                    }
                    continue;
                }

                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
                    log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
                    continue;
                }
                motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

                // 更新工作主档
                task.setTaskSts(TaskStsType.ANALYZE_OUTBOUND.sts); // 工作状态
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
                }

            }
        }
    }

    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 发起充电
     */
    public synchronized void loopShuttleCharge() {
        //获取充电任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
                continue;
            }

            if (!shuttleThread.isRequireCharge()) {
                continue;
            }

            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            int lev = Utils.getLev(currentLocNo);//获取小车楼层
            //搜索小车当前楼层充电桩
            ArrayList<Loc> allChargeLoc = new ArrayList<>();
            List<Loc> list1 = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocSts, LocStsType.C.val())
                    .eq(Loc::getStatus, 1)
                    .eq(Loc::getLev, lev));
            if (!list1.isEmpty()) {
                allChargeLoc.addAll(list1);
            }

            //搜索其他楼层充电桩
            List<Loc> list2 = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocSts, LocStsType.C.val())
                    .eq(Loc::getStatus, 1)
                    .notIn(Loc::getLev, lev));
            if (!list2.isEmpty()) {
                allChargeLoc.addAll(list2);
            }

            //没有找到充电桩
            if (allChargeLoc.isEmpty()) {
                continue;
            }

            //选择空闲充电桩
            Loc chargeLoc = null;
            for (Loc loc : allChargeLoc) {
                // 判断充电位是否被占用(车辆位置)
                if (Utils.hasShuttleInLoc(loc.getLocNo(), device.getId())) {
                    continue;
                }

                // 盘点充电位是否存在任务档
                List<Task> tasks = taskService.hasChargeInLoc(loc.getLocNo());
                if (!tasks.isEmpty()) {
                    continue;
                }

                chargeLoc = loc;
                break;
            }

            if (chargeLoc == null) {
                continue;//未找到充电桩
            }

            if (motionService.count(new LambdaQueryWrapper<Motion>()
                    .eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
                    .eq(Motion::getDevice, device.getDeviceNo())
                    .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
                continue;
            }

            //判断当前小车是否满足需要充电要求
            if (!shuttleThread.isRequireCharge()) {
                continue;
            }

            Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
            if (taskCharge != null) {//已有充电任务
                continue;
            }

            String chargeLocNo = chargeLoc.getLocNo();
            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE")));
            task.setTaskSts(TaskStsType.NEW_CHARGE.sts);
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);
            task.setOriginLoc(null);
            task.setDestSite(null);
            task.setDestLoc(chargeLocNo);
            task.setIoTime(new Date());
            task.setStartTime(new Date());
            task.setHostId(device.getHostId());
            task.setStatus(1);
            task.setMemo("charge");
            task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));

            // generate motion list
            List<Motion> motionList = analyzeService.generateChargeMotion(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
            if (!taskService.save(task)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
            }

            News.info("保存{}号四向穿梭车充电任务成功!!!", device.getDeviceNo());
        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 满电后回到待机位
     */
    public synchronized void loopShuttleToStandbyCauseCharge() {
        Integer enoughPower = 90;
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
                .eq(Dict::getFlag, "chargeMaxValue")
                .eq(Dict::getStatus, 1));
        if (dict != null) {
            enoughPower = Integer.parseInt(dict.getValue());
        }

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (!shuttleThread.isCharging()) {
                continue;
            }

            if (!shuttleThread.isChargingCompleted()) {
                continue;
            }

            //查找充电任务
            Task chargeTask = taskService.getOne(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskSts, TaskStsType.CHARGE_WORKING.sts)
                    .eq(Task::getShuttleNo, device.getDeviceNo()));
            if (chargeTask == null) {
                continue;
            }

            //充电完成
            // 已有迁移任务
            if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
                continue;
            }

            //获取避让位置
            String standByLocNo = shuttleDispatcher.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());

            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
            task.setTaskSts(TaskStsType.NEW_MOVE.sts);
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);
            task.setOriginLoc(null);
            task.setDestSite(null);
            task.setDestLoc(standByLocNo); // 避让位置
            task.setIoTime(new Date());
            task.setStartTime(new Date());
            task.setHostId(device.getHostId());
            task.setStatus(1);
            task.setMemo("charge");
            task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);

            if (!taskService.save(task)) {
                News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
                continue;
            }

            chargeTask.setTaskSts(TaskStsType.COMPLETE_CHARGE.sts);
            chargeTask.setIoTime(new Date());
            taskService.updateById(chargeTask);
        }
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    public void ledExecute() {
        // 遍历LED
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.LED.val())
                .eq(Device::getStatus, 1));
        for (Device ledDevice : list) {
            //获取led数据
            BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
                    .eq(BasLed::getDeviceId, ledDevice.getId()));
            List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);

            BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId().intValue());
            if (basConveyor == null) {
                continue;
            }

            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<Task> tasks = new ArrayList<>();
            for (Integer staNo : staArr) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 获取工作档数据
                Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, staProtocol.getWorkNo()));
                if (null == task) {
                    continue;
                }

                tasks.add(task);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(task.getTaskNo());
                ledCommand.setIoType(task.getTaskCtg().intValue());
                ledCommand.setTitle(task.getTaskCtg$());
                ledCommand.setSourceLocNo(task.getOriginLoc());
                ledCommand.setLocNo(task.getDestLoc());
                ledCommand.setStaNo(Integer.parseInt(task.getDestSite()));

                try {
                    //获取WMS地址
                    Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
                    if (dict != null) {
                        String wmsUrl = dict.getValue();

                        HashMap<String, Object> param = new HashMap<>();
                        param.put("taskNo", task.getTaskNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/queryTask")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            List<MatDto> matDtos = JSON.parseArray(jsonObject.getString("data"), MatDto.class);
                            ledCommand.setMatDtos(matDtos);
                        }
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                }

                commands.add(ledCommand);
            }
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                ledThread.write(commands);
                ledThread.setLedMk(false);
            }
        }
    }

    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    public void ledReset() {
        // 根据输送线plc遍历
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.LED.val())
                .eq(Device::getStatus, 1));
        for (Device ledDevice : list) {
            //获取led数据
            BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
                    .eq(BasLed::getDeviceId, ledDevice.getId()));
            List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);

            BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId().intValue());
            if (basConveyor == null) {
                continue;
            }

            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : staArr) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.errorReset();
                ledThread.setLedMk(true);
            }
        }

        for (Device ledDevice : list) {
            //获取led数据
            BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
                    .eq(BasLed::getDeviceId, ledDevice.getId()));
            List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);

            BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId());
            if (basConveyor == null) {
                continue;
            }

            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : staArr) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) { continue; }
                if (staProtocol.getWorkNo() != 0) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.reset();
                ledThread.setLedMk(true);
            }
        }
    }

}