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.entity.Task;
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.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
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.Date;
import java.util.List;
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;
        }

        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;
        }

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
        if (liftResult) {
            //存在任务，禁止执行
            return false;
        }

        //每次执行提升机指令都绑定提升机
        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }
        task.setLiftNo(liftProtocol.getLiftNo());
        task.setUpdateTime(new Date());
        if (!taskService.updateById(task)) {
            return false;
        }

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

        List<LiftCommand> command = new ArrayList<>();
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

                // 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.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }
//                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.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

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

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

                return false;
            case LIFT_TRANSPORT_TO_CONVEYOR:
                return false;
            case LIFT_LOCK:
                //锁定提升机
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_LOCK)) {
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_UNLOCK:
                //解锁提升机
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_UNLOCK)) {
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_SHUTTLE_ARRIVAL:
                //提升机-小车已到位
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_SHUTTLE_ARRIVAL)) {
                    return false;
                }

                command = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            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;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            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;
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

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

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

                //判断提升机托盘是否存在
                if (liftProtocol.getHasTray()) {
                    return false;
                }

                //判断目标站是否有托盘
                Integer conveyorDeviceId = Integer.parseInt(motion.getDockNo());
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, conveyorDeviceId);
                if (devpThread == null) {
                    return false;
                }
                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
                if(staProtocol == null) {
                    return false;
                }
                if (!staProtocol.isLoading()) {
                    return false;
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        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.getHasTray()) {
                    return false;
                }

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

                break;
            case LIFT_TRANSPORT_TO_CONVEYOR:

                break;
            case LIFT_LOCK:
                if (!liftThread.isLock(null)) {
                    return false;
                }
                break;
            case LIFT_UNLOCK:
                if (liftThread.isLock(null)) {
                    return false;
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }
                break;
            case LIFT_SHUTTLE_ARRIVAL:

                break;
            default:
                return false;
        }

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

}