package com.zy.asrs.wcs.core.utils;

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.wms.entity.BasMap;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.io.*;
import java.util.*;

/**
 * A*算法地图获取类
 */
@Component
public class NavigateMapData {

    @Autowired
    private LocService locService;
    @Autowired
    private DictService dictService;

    private Integer lev;//地图楼层

    public NavigateMapData() {
        this.lev = 1;
    }

    public NavigateMapData(Integer lev) {
        this.lev = lev;
    }

    public void setLev(Integer lev) {
        this.lev = lev;
    }

    public int[][] getData() {
        return getDataFromRedis(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    /**
     * 尝试从redis获取数据
     */
    public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
        if (o == null) {
            return null;
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        return this.getDataFormString(basMap.getData(), mapType, whitePoints, shuttlePoints);
    }

    /**
     * 从List数据中获取地图
     */
    public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
        int[][] map = new int[lists.size()][];
        int j = 0;
        for (List<MapNode> list : lists) {
            int[] tmp = new int[list.size()];
            int i = 0;
            for (MapNode mapNode : list) {
                //将数据添加进二维数组
                tmp[i++] = mapNode.getValue();
            }
            //数据添加进一维数组
            map[j++] = tmp;
        }

        return map;
    }

    //获取JSON格式数据-原始地图
    public List<List<MapNode>> getJsonDataFromDict(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        List<List<MapNode>> arrayList = getMapFromDict(lev);
        return arrayList;
    }

    //从数据字典中解析指定楼层地图数据
    public List<List<MapNode>> getMapFromDict(Integer currentLev) {
        List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
                .like(Dict::getFlag, "map-" + currentLev)
                .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]);

            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"));

                    if(mapNode.getValue() == MapNodeType.CONVEYOR.id) {
                        //输送线,判断小车是否可走
                        if (object.containsKey("conveyorHasGo")) {
                            if(object.getBoolean("conveyorHasGo")) {
                                //小车可走
                                mapNode.setValue(MapNodeType.CONVEYOR_CAR_GO.id);
                            }
                        }
                    }

                    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(MapNodeType.DISABLE.id);
                        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(MapNodeType.DISABLE.id);
            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());
            }

            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);

            List<List<MapNode>> mapNodeList = new ArrayList<>();
            mapNodeList.addAll(lists);
            return mapNodeList;
        }

        return null;
    }

    //获取JSON格式数据
    public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
        if (o == null) {
            return null;
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
        return lists;
    }

    /**
     * 过滤地图数据
     * mapType -1=>无过滤，1=》过滤库位状态DFX，2=》过滤库位状态X
     *
     * @param whitePoints 白名单节点，不需要被过滤
     * @param shuttlePoints 穿梭车节点，需要加载进地图
     */
    public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        List<List<MapNode>> lists = new ArrayList<>();

        //重建数据格式
        for (int i = 0; i < arrayList.size(); i++) {
            Object obj = arrayList.get(i);
            List<MapNode> list = JSON.parseArray(obj.toString(), MapNode.class);
            for (int j = 0; j < list.size(); j++) {
                MapNode mapNode = list.get(j);
                list.set(j, mapNode);
            }
            lists.add(list);
        }

        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

        if (mapStrict) {//严格模式下，载入库位状态
            //过滤数据
            //获取当前楼层库位数据
            List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLev, lev)
                    .orderByAsc(Loc::getRow, Loc::getBay));
            for (Loc loc : locs) {
                Integer row = loc.getRow();
                Integer bay = loc.getBay();

                boolean whiteFlag = false;//默认不存在白名单
                if (whitePoints != null) {
                    for (int[] whitePoint : whitePoints) {
                        if (whitePoint[0] == row && whitePoint[1] == bay) {
                            //存在白名单
                            whiteFlag = true;
                            break;
                        }
                    }
                }
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }


                List<MapNode> list = lists.get(row);
                MapNode mapNode = list.get(bay);

                if (mapType == NavigationMapType.NONE.id) {
                    //不过滤任何数据
                } else if (mapType == NavigationMapType.DFX.id) {
                    //车辆有货
                    //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                    if (loc.getLocSts$().equals("F")
                            || loc.getLocSts$().equals("D")
                            || loc.getLocSts$().equals("X")
                    ) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (loc.getLocSts$().equals("X")) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                }

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
        }

        //加载车辆坐标到地图中
        if (shuttlePoints != null) {
            for (int[] points : shuttlePoints) {
                int x = points[0];
                int y = points[1];
                List<MapNode> list = lists.get(x);
                MapNode mapNode = list.get(y);
                mapNode.setValue(MapNodeType.CAR.id);//设置为车辆代码66
                //更新list
                list.set(y, mapNode);
                lists.set(x, list);
            }
        }

        return lists;
    }

}