package com.zy.asrs.task;

import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.service.CommonService;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.move.StationMoveCoordinator;
import com.zy.core.move.StationMoveSession;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.util.List;
import java.util.Map;
import java.util.Objects;

@Component
public class InboundCrnMoveDispatchScheduler {

    private final WrkMastService wrkMastService;
    private final BasStationService basStationService;
    private final CommonService commonService;
    private final BasCrnpService basCrnpService;
    private final CrnOperateProcessUtils crnOperateProcessUtils;
    private final StationMoveCoordinator stationMoveCoordinator;

    public InboundCrnMoveDispatchScheduler(WrkMastService wrkMastService,
                                           BasStationService basStationService,
                                           CommonService commonService,
                                           BasCrnpService basCrnpService,
                                           CrnOperateProcessUtils crnOperateProcessUtils,
                                           StationMoveCoordinator stationMoveCoordinator) {
        this.wrkMastService = wrkMastService;
        this.basStationService = basStationService;
        this.commonService = commonService;
        this.basCrnpService = basCrnpService;
        this.crnOperateProcessUtils = crnOperateProcessUtils;
        this.stationMoveCoordinator = stationMoveCoordinator;
    }

    @Scheduled(fixedDelay = 1000L)
    public void dispatchInboundCrnMove() {
        List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.IN.id)
                .eq("wrk_sts", WrkStsType.INBOUND_STATION_RUN.sts)
                .isNotNull("sta_no"));
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null || wrkMast.getWrkNo() == null || wrkMast.getStaNo() == null || Cools.isEmpty(wrkMast.getLocNo())) {
                continue;
            }

            BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>()
                    .eq("station_id", wrkMast.getStaNo())
                    .last("limit 1"));
            if (basStation == null || basStation.getDeviceNo() == null) {
                continue;
            }

            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
            StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(basStation.getStationId());
            tryDispatchInboundCrnMove(wrkMast, stationProtocol);
        }
    }

    private void tryDispatchInboundCrnMove(WrkMast wrkMast, StationProtocol targetStationProtocol) {
        if (targetStationProtocol != null
                && targetStationProtocol.isLoading()
                && targetStationProtocol.getTaskNo() > 0
                && targetStationProtocol.isInEnable()) {
            return;
        }

        FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(wrkMast.getLocNo());
        if (findCrnNoResult == null || !Objects.equals(findCrnNoResult.getCrnType(), SlaveType.Crn) || findCrnNoResult.getCrnNo() == null) {
            return;
        }
        Integer crnNo = findCrnNoResult.getCrnNo();

        BasCrnp basCrnp = basCrnpService.getOne(new QueryWrapper<BasCrnp>()
                .eq("crn_no", crnNo)
                .last("limit 1"));
        if (basCrnp == null) {
            return;
        }

        String inboundPickupLocNo = resolveInboundPickupLocNo(basCrnp, wrkMast.getStaNo());
        if (Cools.isEmpty(inboundPickupLocNo)) {
            return;
        }

        // 同堆垛机没有未完成出库任务时，优先直接到当前入库任务取货位等待。
        if (!hasPendingOutboundTask(crnNo)) {
            boolean dispatched = crnOperateProcessUtils.dispatchCrnMove(crnNo, inboundPickupLocNo);
            if (dispatched) {
                News.info("检测到仅有入库任务，已触发堆垛机直接移动到入库任务取货位等待，工作号={}，堆垛机号={}，取货位={}",
                        wrkMast.getWrkNo(), crnNo, inboundPickupLocNo);
            }
            return;
        }

        StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(wrkMast.getWrkNo());
        if (!isInboundCrnMoveDispatchWindow(wrkMast, session)) {
            return;
        }

        boolean dispatched = crnOperateProcessUtils.dispatchCrnMove(crnNo, inboundPickupLocNo);
        if (dispatched) {
            News.info("入库任务即将到达取货位，已触发堆垛机预移车，工作号={}，堆垛机号={}，取货位={}",
                    wrkMast.getWrkNo(), crnNo, inboundPickupLocNo);
        }
    }

    private String resolveInboundPickupLocNo(BasCrnp basCrnp, Integer targetStationId) {
        if (basCrnp == null || targetStationId == null) {
            return null;
        }
        for (StationObjModel stationObjModel : basCrnp.getInStationList$()) {
            if (stationObjModel == null || !Objects.equals(stationObjModel.getStationId(), targetStationId)) {
                continue;
            }
            if (stationObjModel.getDeviceRow() == null || stationObjModel.getDeviceBay() == null || stationObjModel.getDeviceLev() == null) {
                continue;
            }
            return Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
        }
        return null;
    }

    private boolean hasPendingOutboundTask(Integer crnNo) {
        if (crnNo == null) {
            return false;
        }
        return wrkMastService.count(new QueryWrapper<WrkMast>()
                .eq("crn_no", crnNo)
                .eq("io_type", WrkIoType.OUT.id)
                .in("wrk_sts",
                        WrkStsType.NEW_OUTBOUND.sts,
                        WrkStsType.OUTBOUND_RUN.sts,
                        WrkStsType.OUTBOUND_RUN_COMPLETE.sts,
                        WrkStsType.STATION_RUN.sts,
                        WrkStsType.STATION_RUN_COMPLETE.sts,
                        WrkStsType.OUTBOUND_MANUAL.sts)) > 0;
    }

    private boolean isInboundCrnMoveDispatchWindow(WrkMast wrkMast, StationMoveSession session) {
        if (wrkMast == null || session == null || !session.isActive() || wrkMast.getStaNo() == null) {
            return false;
        }
        List<Integer> fullPathStationIds = session.getFullPathStationIds();
        Integer currentStationId = session.getCurrentStationId();
        if (fullPathStationIds == null || fullPathStationIds.isEmpty() || currentStationId == null) {
            return false;
        }
        int currentIndex = fullPathStationIds.lastIndexOf(currentStationId);
        if (currentIndex < 0 || currentIndex >= fullPathStationIds.size() - 1) {
            return false;
        }
        int remainingStationCount = fullPathStationIds.size() - currentIndex - 1;
        if (remainingStationCount != 1) {
            return false;
        }
        Integer nextStationId = fullPathStationIds.get(currentIndex + 1);
        return Objects.equals(nextStationId, wrkMast.getStaNo());
    }
}