package com.zy.asrs.task;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.controller.MobileController;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.RowLastno;
import com.zy.asrs.entity.WaitPakin;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.*;
import com.zy.asrs.task.core.ReturnT;
import com.zy.common.service.CommonService;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.text.SimpleDateFormat;
import java.time.LocalDate;
import java.util.Date;
import java.util.HashSet;
import java.util.List;
import java.util.Set;

/**
 * 自动派发任务给AGV
 */
@Component
public class AutoAssignAGVTasks {
    private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class);

    @Autowired
    private WaitPakinService waitPakinService;
    @Autowired
    private MobileController mobileController;
    @Autowired
    private RowLastnoService  rowLastnoService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpService basDevpService;

    /**
     * 自动派发入库任务给AGV
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void execute(){
        /**
         * agv状态
         * be_batch
         * 0：无需调用AGV
         * 1：等待调用AGV
         * 2：AGV任务下发成功
         * 3：AGV任务完成
         * 4：给输送线下发入库指令
         */
        List<WaitPakin> beBatchs = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("be_batch", 1).orderBy("zpallet ASC"));
        if (beBatchs.isEmpty()) {
            return;
        }
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 101, 103, 110, 107).le("wrk_sts",14));
        if(!Cools.isEmpty(wrkMasts)){
            log.info("当前有出库任务数={}，正在进行无法呼叫agv入库",wrkMasts.size());
            return;
        }
        //对相同托盘号进行跳过
        String zpallet="";
        for (WaitPakin waitPakin : beBatchs) {
            if(Cools.isEmpty(zpallet)){
                zpallet=waitPakin.getZpallet();
            }else if(zpallet.equals(waitPakin.getZpallet())){
                continue;
            }

            if(Cools.isEmpty(waitPakin.getMemo())){
                log.error("入库通知档托盘码={}，源站点[memo]为空",waitPakin.getZpallet());
                continue;
            }
            String i= waitPakin.getZpallet().substring(0,1);
            String staNo = "";
            //大托盘入库目标站点105
            if(i.equals("9")){
                staNo = "105";
            }else {
                //小托盘入库则按入库规则交替入库
                //将堆垛机排序
                //检测堆垛机是否正常，跳过不正常的堆垛机
                Integer[] crns=new Integer[2];
                RowLastno wrkMk = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("wrk_mk", "1"));
                if(Cools.isEmpty(wrkMk)){
                    RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "2"));
                    whsType.setWrkMk("1");
                    rowLastnoService.updateById(whsType);
                    crns[0]=2;
                    crns[1]=3;
                }else {
                    if(wrkMk.getWhsType()==2){
                        crns[0]=2;
                        crns[1]=3;
                        wrkMk.setWrkMk("0");
                        rowLastnoService.updateById(wrkMk);
                        RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "3"));
                        whsType.setWrkMk("1");
                        rowLastnoService.updateById(whsType);
                    }else  {
                        crns[0]=3;
                        crns[1]=2;
                        wrkMk.setWrkMk("0");
                        rowLastnoService.updateById(wrkMk);
                        RowLastno whsType = rowLastnoService.selectOne(new EntityWrapper<RowLastno>().eq("whs_type", "2"));
                        whsType.setWrkMk("1");
                        rowLastnoService.updateById(whsType);
                    }
                    //检测堆垛机是否正常
                    for(int j=0;j<crns.length;j++){
                        boolean b = basCrnpService.checkSiteError(crns[j], false);
                        if(b){
                            if(crns[j]==2){
                                staNo = "103";
                            }else {
                                staNo = "101";
                            }

                            break;
                        }
                    }
                }
            }

            //当站点有出库任务时跳过派发任务
            List<WrkMast> wrkMasts1 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", staNo).lt("wrk_sts",33));
            if(!Cools.isEmpty(wrkMasts1)){
                continue;
            }

            if (Cools.isEmpty(staNo)) {
                return;
            }
            //AGV目标站点已经在做任务时跳过
            WaitPakin waitPakin1 = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("sku", staNo).in("be_batch", 2,3));
            if (!Cools.isEmpty(waitPakin1)) {
                continue;
            }
            R bind = mobileController.siteBindAndUnbind(waitPakin.getMemo(),waitPakin.getZpallet(), "BIND");
//            if (bind.get("code").equals(200)) {
//            }else {
//                log.info("WMS绑定agv站点={},任务号为={}------------失败",wrkMast.getStaNo(),wrkMast.getWrkNo());
//            }
            int workNo = commonService.getWorkNo(0);
            SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
            String format = sdf.format(new Date());
            String s = format+"-" + workNo;
            log.info("给agv下发入库搬运任务={}",waitPakin);

            R r = mobileController.SITESITEAGVMove(waitPakin.getMemo(), staNo,s);
            if (r.get("code").equals(200)) {
                waitPakin.setSupp(s);//发给agv的任务号
                waitPakin.setSku(staNo);//目标站点
                waitPakin.setBeBatch(2);//2：AGV任务下发成功
                waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("supp_code",waitPakin.getSuppCode()));
            }

        }
    }

    /**
     * 自动派发补空板任务给AGV
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void autoFillEmptyPallets(){
        /**
         * 该字段是组托入库自动出发补空托盘标记
         * item_num
         * 0：不需要补空托盘
         * 1：小托盘
         * 2：大托盘
         * 10：小托盘AGV任务下发成功
         * 20：大托盘AGV任务下发成功
         * ----------------------------------------------------------------------
         * 下面的暂时用不到
         * 100：小托盘放货完成
         * 200：大托盘放货完成
         */
        List<WaitPakin> waitPakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>()
                .in("item_num", 1,2)
                .ge("be_batch",3)
                .orderBy("zpallet ASC"));
        if (waitPakins.isEmpty()) {
            return;
        }
        String zpallet="";
        for (WaitPakin waitPakin : waitPakins) {
            if(Cools.isEmpty(zpallet)){
                zpallet=waitPakin.getZpallet();
            }else if(zpallet.equals(waitPakin.getZpallet())){
                continue;
            }
            if (Cools.isEmpty(waitPakin.getMemo())) {
                log.error("入库通知档托盘码={}，源站点[memo]为空",waitPakin.getZpallet());
                continue;
            }
            log.info("WMS自动下发给AGV下发补空托盘任务={}",waitPakin);
            R r = mobileController.FillEmptyPallets(waitPakin.getMemo(), waitPakin.getItemNum());
            if (r.get("code").equals(200)) {
                waitPakin.setItemNum(waitPakin.getItemNum().equals("1")?"10":"20");
                waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("supp_code",waitPakin.getSuppCode()));
            }
        }
    }

    /**
     * 出库时绑定agv站点
     * 自动派发出库任务给agv搬运
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void autoOut(){
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 30));
        if (wrkMasts.isEmpty()) {
            return;
        }
        for (WrkMast wrkMast : wrkMasts) {
            BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>()
                    .eq("wrk_no", wrkMast.getWrkNo())
                    .eq("dev_no", wrkMast.getStaNo())
                    .eq("autoing", "Y")
                    .eq("loading","Y"));
            if(Cools.isEmpty(basDevp)){
                continue;
            }
            if (Cools.isEmpty(wrkMast.getMemo())) {
                log.error("入库通知档托盘码={}，源站点[memo]为空",wrkMast.getBarcode());
                continue;
            }
            log.info("WMS自动下发给AGV下发出库任务={}",wrkMast);
            log.info("WMS开始自动绑定agv站点={},任务号为={}",wrkMast.getStaNo(),wrkMast.getWrkNo());

            R bind = mobileController.siteBindAndUnbind(wrkMast.getStaNo() + "",wrkMast.getBarcode(), "BIND");
            if (bind.get("code").equals(200)) {
            }else {
                log.info("WMS绑定agv站点={},任务号为={}------------失败",wrkMast.getStaNo(),wrkMast.getWrkNo());
            }
            //生成agv工作号
            SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
            String format = sdf.format(new Date());
            String s = format+"-" + wrkMast.getWrkNo();
            log.info("WMS完成绑定agv站点={},AGV任务号为={}",wrkMast.getStaNo(),s);
            R r = mobileController.SITEZONEAGVMove(wrkMast.getStaNo()+"", wrkMast.getMemo(),s);
            if (r.get("code").equals(200)) {
                wrkMast.setPdcType(s);
                wrkMast.setWrkSts(31L); //从30等待给AGV下发出库任务-----》31AGV出库任务下发成功
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
            }
        }
    }

    /**
     * 入库任务自动解绑agv站点
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void UnbindTheSite(){
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .in("io_type",1,53)
                .ge("wrk_sts", 2)
                .isNull("ctn_kind"));
        if (wrkMasts.isEmpty()) {
            return;
        }
        for (WrkMast wrkMast : wrkMasts) {
            String staNo="";
            if(wrkMast.getSourceStaNo()==102){
                staNo="101";
            }else if(wrkMast.getSourceStaNo()==104){
                staNo="103";
            }else if(wrkMast.getSourceStaNo()==106){
                staNo="105";
            }
            log.info("WMS入库解绑AGV站点={},托盘码为={}",staNo,wrkMast.getBarcode());
            R r = mobileController.siteBindAndUnbind(staNo,wrkMast.getBarcode(),"UNBIND");
            if (r.get("code").equals(200)) {
                wrkMast.setCtnKind(1);//任务解绑标记
                wrkMastService.updateById(wrkMast);
            }
        }
    }
}