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

import com.alibaba.fastjson.JSON;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

@Slf4j
@Service
public class MapCommandService {

    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private NavigateMapData navigateMapData;

    public Boolean accept(Motion motion) {
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))) {
            case MAP_LOCK_PATH:
                return lockPath(motion, true);
            case MAP_UNLOCK_PATH:
                return lockPath(motion, false);
            default:
                break;
        }

        return Boolean.TRUE;
    }

    public Boolean finish(Motion motion) {
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))) {
            case MAP_LOCK_PATH:
                return checkLockPath(motion, true);
            case MAP_UNLOCK_PATH:
                return checkLockPath(motion, false);
            default:
                break;
        }

        return Boolean.TRUE;
    }

    private boolean lockPath(Motion motion, boolean lock) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
        if (shuttleThread == null) {
            return false;
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (null == shuttleProtocol) {
            return false;
        }

        List<NavigateNode> nodes = new ArrayList<>();

        String target = motion.getTarget();
        List<String> lockPath = JSON.parseArray(target, String.class);
        Integer lev = null;
        for (String loc : lockPath) {
            NavigateNode navigateNode = NavigatePositionConvert.locNoToNode(loc);
            nodes.add(navigateNode);

            lev = Utils.getLev(loc);
        }

        //所使用的路径进行锁定/解锁
        boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(lev, shuttleProtocol.getShuttleNo(), nodes, lock);//所使用的路径进行锁定/解锁
        if (!lockResult) {
            return false;//锁定/解锁失败
        }
        return true;
    }

    private boolean checkLockPath(Motion motion, boolean lock) {
        List<NavigateNode> nodes = new ArrayList<>();

        String target = motion.getTarget();
        List<String> lockPath = JSON.parseArray(target, String.class);
        Integer lev = null;
        for (String loc : lockPath) {
            NavigateNode navigateNode = NavigatePositionConvert.locNoToNode(loc);
            nodes.add(navigateNode);

            lev = Utils.getLev(loc);
        }

        Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
        if (o == null) {
            return false;
        }

        Integer deviceNo = Integer.parseInt(motion.getDevice());
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
        if (shuttleThread == null) {
            return false;
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (null == shuttleProtocol) {
            return false;
        }

        //获取小车节点
        List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), lev);
        navigateMapData.setLev(lev);
        List<List<MapNode>> map = navigateMapData.getJsonData(NavigationMapType.DFX.id, null, shuttlePoints);

        for (NavigateNode node : nodes) {
            List<MapNode> listX = map.get(node.getX());
            MapNode mapNode = listX.get(node.getY());
            if (mapNode.getLockDeviceNo() != null && !mapNode.getLockDeviceNo().equals(shuttleProtocol.getShuttleNo())) {
                return false;//路径所属权不是当前设备
            }

            if (lock) {//检测是否锁定
                if (!mapNode.getValue().equals(MapNodeType.LOCK.id)) {
                    return false;//路径未锁定
                }
            }else {//检测是否未锁定
                if(mapNode.getValue().equals(MapNodeType.LOCK.id)) {
                    return false;//路径已锁定
                }
            }
        }
        return true;
    }

}