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

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.service.LocService;

/**
 * 库位编号和A*算法的xy轴转换工具类
 */
public class NavigatePositionConvert {

    public static String xyToPosition(int x, int y, int z, Long hostId) {
        String locNo = Utils.getLocNo(x, y, z);

        //库位号转小车二维码
        LocService locService = SpringUtils.getBean(LocService.class);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getLocNo, locNo)
                .eq(Loc::getHostId, hostId)
                .eq(Loc::getStatus, 1));
        if (loc == null) {
            return null;
        }
        return loc.getCode();
    }

    //坐标编号转xy轴
    public static int[] positionToXY(String position) {
        int col = Utils.getRow(position);
        int row = Utils.getBay(position);
        int[] newPosition = coverPosition(col,row);
        //返回x和y
//        return new int[]{row, col};
        return newPosition;
    }

    //WCS系统库位号转路径算法节点
    public static NavigateNode locNoToNode(String locNo) {
        int col = Utils.getRow(locNo);
        int row = Utils.getBay(locNo);
        int[] newPosition = coverPosition(col,row);
        NavigateNode node = new NavigateNode(newPosition[0], newPosition[1]);
        node.setZ(Utils.getLev(locNo));
        return node;
    }

    //小车条形码转路径算法节点
    public static NavigateNode codeToNode(String code, Long hostId) {
        LocService locService = SpringUtils.getBean(LocService.class);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getCode, code)
                .eq(Loc::getHostId, hostId)
                .eq(Loc::getStatus, 1));

        NavigateNode node = new NavigateNode(loc.getRow(), loc.getBay());
        node.setZ(loc.getLev());
        return node;
    }

    //路径算法节点转WCS系统库位号
    public static String nodeToLocNo(NavigateNode node) {
        return xyzToLocNo(node.getX(), node.getY(), node.getZ());
    }

    //WCS坐标转WCS库位号
    public static String xyzToLocNo(int x, int y, int z) {
        String locNo = Utils.getLocNo(x, y, z);
        return locNo;
    }

    //牛眼坐标转WCS库位号
    public static String nyXyzToLocNo(int x, int y, int z) {
        int[] ints = NyXyzToWCSXyz(x, y, z);
        String locNo = Utils.getLocNo(ints[0],ints[1],ints[2]);
        return locNo;
    }

    //WCS系统坐标转牛眼坐标
    public static int[] WCSXyzToNyXyz(int x, int y, int z) {
        //WCS系统Y轴 => 牛眼X轴转换公式
        int x1 = Math.abs(y - 61) + 11;
        //WCS系统X轴 => 牛眼Y轴转换公式
        int y1 = x + 10;
        return new int[]{x1, y1, z};
    }

    //牛眼坐标转WCS系统坐标
    public static int[] NyXyzToWCSXyz(int x, int y, int z) {
        //牛眼X轴 => WCS系统Y轴公式
        int y1 = Math.abs(x - 11 - 61);
        //牛眼Y轴 => WCS系统X轴公式
        int x1 = y - 10;
        return new int[]{x1, y1, z};
    }

    public static int[] coverPosition(int col,int row) {
        return new int[]{col, row};
    }

}