package com.zy.asrs.wcs.rcs.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.domain.dto.BasLiftStaDto;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
public class NyLiftThread implements LiftThread {

    private Device device;
    private RedisUtil redisUtil;
    private LiftProtocol liftProtocol;
    private SiemensS7Net siemensS7Net;
    private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
    private List<BasLiftStaDto> staList = new ArrayList<>();

    public NyLiftThread(Device device, RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;

        //初始化站点
        BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
        BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
                .eq(BasLift::getDeviceId, device.getId()));
        List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
        this.staList = staList;
        for (BasLiftStaDto sta : staList) {
            LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
            liftStaProtocol.setStaNo(sta.getStaNo());//站点号
            liftStaProtocol.setLev(sta.getLev());//站点楼层
            String locNo = Utils.getLocNo(sta.getRow(), sta.getBay(), sta.getLev());
            liftStaProtocol.setLocNo(locNo);//站点库位号
            liftStaProtocol.setLiftNo(basLift.getLiftNo());//提升机号
            liftStaProtocols.add(liftStaProtocol);
        }
    }

    @Override
    public void run() {
        News.info("{}号提升机线程启动", device.getDeviceNo());
        this.connect();
        while (true) {
            try {
                read();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void read() {
        try {
            readStatus();

            //提升机处于运行状态，将标记置为true
            if (liftProtocol.getRun()) {
                liftProtocol.setPakMk(true);
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
        }
    }

    private void readStatus() {
        try {
            //获取提升机数据
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
            if (result1.IsSuccess) {
                if (null == liftProtocol) {
                    liftProtocol = new LiftProtocol();
                    liftProtocol.setLiftNo(Integer.valueOf(device.getDeviceNo()));
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                    liftProtocol.setDevice(device);

                    InnerLiftExtend innerLiftExtend = new InnerLiftExtend();
                    liftProtocol.setExtend(innerLiftExtend);
                }

                //----------读取提升机状态-----------
                //读取4.0-4.7数据
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
                //读取5.0-5.7数据
                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
                //模式
                liftProtocol.setModel(status1[0]);
                //忙闲
                liftProtocol.setRun(!status1[1]);
                //前超限
                liftProtocol.setFrontOverrun(status1[4]);
                //后超限
                liftProtocol.setBackOverrun(status1[5]);
                //左超限
                liftProtocol.setLeftOverrun(status1[6]);
                //右超限
                liftProtocol.setRightOverrun(status1[7]);
                //超高
                liftProtocol.setOverHeight(status2[0]);
                //超重
                liftProtocol.setOverWeight(status2[1]);
                //有托盘
                liftProtocol.setHasTray(status2[5]);
                //有小车
                liftProtocol.setHasCar(status2[6]);
                //设备故障
                liftProtocol.setErrorCode(String.valueOf(status2[7]));
                //目的地址
                liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //已完成任务号
                liftProtocol.setCompleteTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6)));
                //当前楼层
                short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
                liftProtocol.setLev((int) lev);

                //************补充扩展字段*************
                InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
                //任务号
                liftExtend.setLiftTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2)));
                liftProtocol.setExtend(liftExtend);


            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}读取提升机状态信息失败", DateUtils.convert(new Date()), device.getId()));
                throw new CoolException(MessageFormat.format( "读取提升机状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getId(), device.getIp(), device.getPort()));
            }
            Thread.sleep(200);

            //获取提升机站点数据
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
            if (result1.IsSuccess) {
                for (int i = 0; i < this.staList.size(); i++) {
                    LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
                    int i1 = 0 + (i * 10);
                    int i2 = 1 + (i * 10);
                    //读取x4.0-x4.7数据
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
                    //读取x5.0-x5.7数据
                    boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
                    //模式
                    liftStaProtocol.setModel(status1[0]);
                    //忙闲
                    liftStaProtocol.setBusy(!status1[1]);
                    //有托盘
                    liftStaProtocol.setHasTray(status1[2]);
                    //前超限
                    liftStaProtocol.setFrontOverrun(status1[4]);
                    //后超限
                    liftStaProtocol.setBackOverrun(status1[5]);
                    //左超限
                    liftStaProtocol.setLeftOverrun(status1[6]);
                    //右超限
                    liftStaProtocol.setRightOverrun(status1[7]);
                    //超高
                    liftStaProtocol.setOverHeight(status2[0]);
                    //超重
                    liftStaProtocol.setOverWeight(status2[1]);
                    //有小车
                    liftStaProtocol.setHasCar(status2[6]);
                    //设备故障
                    liftStaProtocol.setDeviceError(status2[7]);
                    //任务号
                    liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
                    //已完成任务号
                    liftStaProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 6));
                }
            }

            if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
                deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
                deviceDataLog.setType("lift");
                deviceDataLog.setDeviceNo(String.valueOf(liftProtocol.getLiftNo()));
                deviceDataLog.setCreateTime(new Date());
                deviceDataLog.setHostId(device.getHostId());
                deviceDataLogService.save(deviceDataLog);

                //更新采集时间
                liftProtocol.setDeviceDataLog(System.currentTimeMillis());
            }

            //将提升机状态保存至数据库
            BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
            BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
                    .eq(BasLift::getLiftNo, device.getDeviceNo())
                    .eq(BasLift::getHostId, device.getHostId()));
            if (basLift == null) {
                basLift = new BasLift();
                //提升机号
                basLift.setLiftNo(Integer.valueOf(device.getDeviceNo()));
                basLift.setStatus(1);
                basLift.setDeleted(0);
                basLift.setHostId(device.getHostId());
                basLift.setDeviceId(device.getId());
                basLiftService.save(basLift);
            }
            //任务号
            basLift.setTaskNo(liftProtocol.getTaskNo().intValue());
            //修改时间
            basLift.setUpdateTime(new Date());
            //设备状态
            basLift.setProtocol(JSON.toJSONString(liftProtocol));
            if (basLiftService.updateById(basLift)) {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
            }

        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
        }
    }

    @Override
    public LiftProtocol getStatus() {
        return this.liftProtocol.clone();
    }

    @Override
    public Device getDevice() {
        return this.device;
    }

    @Override
    public CommandResponse move(LiftCommand command) {
        return write(command);
    }

    @Override
    public CommandResponse palletInOut(LiftCommand command) {
        return write(command);
    }

    private CommandResponse write(LiftCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (null == command) {
            News.error("提升机写入命令为空");
            response.setMessage("提升机写入命令为空");
            return response;
        }

        List<Short> shorts = JSON.parseArray(command.getBody(), Short.class);
        short[] array = new short[shorts.size()];//获取命令报文
        for (int i = 0; i < shorts.size(); i++) {
            array[i] = shorts.get(i);
        }

        OperateResult result = siemensS7Net.Write("DB83.0", array);
        if (result != null && result.IsSuccess) {
            liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            News.info("提升机命令下发[id:{}] >>>>> {}", device.getId(), JSON.toJSON(command));
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
            response.setMessage(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
            response.setResult(true);
            return response;
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", device.getId(), device.getIp(), device.getPort());
            response.setMessage(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            return response;
        }
    }

    @Override
    public CommandResponse lock(LiftCommand command) {
        return new CommandResponse(true);
    }

    @Override
    public CommandResponse unlock(LiftCommand command) {
        return new CommandResponse(true);
    }

    @Override
    public CommandResponse reset(LiftCommand command) {
        return new CommandResponse(false);
    }

    @Override
    public boolean isIdle() {
        return isIdle(null);
    }

    @Override
    public boolean isIdle(MotionCtgType flag) {
        // 判断提升机是否自动、就绪、空闲
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getReady()
                && this.liftProtocol.getPakMk()
                && this.liftProtocol.getErrorCode().equals("0")
                && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
                || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
        ) {
            return true;
        }
        return false;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        // 判断提升机是否自动、就绪、空闲
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getReady()
                && this.liftProtocol.getErrorCode().equals("0")
        ) {
            return true;
        }
        return false;
    }

    @Override
    public synchronized boolean setProtocolStatus(LiftProtocolStatusType status) {
        this.liftProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.liftProtocol.setTaskNo(taskNo);
        return true;
    }

    @Override
    public boolean isLock(ExecuteSupport support) {
        if (support != null) {
            return support.judgement();
        }
        return true;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
        return taskNo;
    }

    @Override
    public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        /**
         * 任务类型
         * 1=移托盘；升降机将源站台托盘移到目标站台
         * 2=移小车，升降机移到目标层，等待
         */
        short taskMode = 2;
        if (mode.equals(LiftCommandModeType.PALLET_INOUT)) {
            taskMode = 1;
        }

        // 开始任务
        short[] array = new short[4];
        //任务类型
        array[0] = taskMode;
        //源站台编号
        array[1] = sourceLev.shortValue();
        //目标站台编号
        array[2] = targetLev.shortValue();
        //任务号
        array[3] = taskNo.shortValue();

        LiftCommand command = new LiftCommand();
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(array));
        command.setMode(LiftCommandModeType.MOVE.id);
        command.setOriginLev(sourceLev);
        command.setTargetLev(targetLev);

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        return list;
    }

    @Override
    public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, mode);
    }

    @Override
    public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, mode);
    }

    @Override
    public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
        return null;
    }

    @Override
    public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
        return null;
    }

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------提升机连接方法------------------------//
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, device.getIp());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.LIFT.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
        }
        siemensS7Net.ConnectClose();
        //-------------------------提升机连接方法------------------------//
        return result;
    }

    @Override
    public void close() {
        siemensS7Net.ConnectClose();
    }

    /**
     * 扩展字段
     */
    @Data
    private class InnerLiftExtend {

        /**
         * 提升机内部工作号
         */
        private String liftTaskNo;

    }

    @Data
    public class LiftStaProtocol {

        /**
         * 站点号
         */
        private Integer staNo;

        /**
         * 模式
         */
        private Boolean model;

        /**
         * 忙闲
         */
        private Boolean busy;

        /**
         * 前超限
         */
        private Boolean frontOverrun;

        /**
         * 后超限
         */
        private Boolean backOverrun;

        /**
         * 左超限
         */
        private Boolean leftOverrun;

        /**
         * 右超限
         */
        private Boolean rightOverrun;

        /**
         * 超高
         */
        private Boolean overHeight;

        /**
         * 超重
         */
        private Boolean overWeight;

        /**
         * 有托盘
         */
        private Boolean hasTray;

        /**
         * 有小车
         */
        private Boolean hasCar;

        /**
         * 设备故障
         */
        private Boolean deviceError;

        /**
         * 当前执行任务号
         */
        private Short taskNo;
        /**
         * 已完成的任务号
         */
        private Short completeTaskNo;

        /**
         * 层
         */
        private Integer lev;

        /**
         * 站点库位号
         */
        private String locNo;

        /**
         * 提升机号
         */
        private Integer liftNo;

    }

}