package com.zy.core.thread.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.model.param.SendDualCrnCommandParam;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyDualCrnConnectDriver;
import com.zy.core.network.entity.ZyDualCrnStatusEntity;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.StationThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.*;

import com.zy.asrs.entity.BasDualCrnpErrLog;
import com.zy.asrs.service.BasDualCrnpErrLogService;

/**
 * 双工位堆垛机线程
 */
@Data
@Slf4j
public class ZySiemensDualCrnThread implements Runnable, DualCrnThread {

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyDualCrnConnectDriver zyDualCrnConnectDriver;
    private DualCrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;

    public ZySiemensDualCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        this.initCrn();

        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                    readStatus();
                    Thread.sleep(50);
                } catch (Exception e) {
                    log.error("DualCrnThread Fail", e);
                }
            }
        });
        readThread.start();

        Thread processThread = new Thread(() -> {
            while (true) {
                try {
                    int step = 1;
                    Task task = MessageQueue.poll(SlaveType.DualCrn, deviceConfig.getDeviceNo());
                    if (task != null) {
                        step = task.getStep();
                    }

                    if (step == 2) {
                        List<SendDualCrnCommandParam> commandList = (List<SendDualCrnCommandParam>) task.getData();
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(commandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    } else if (step == 3) {
                        sendCommand((DualCrnCommand) task.getData());
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("DualCrnProcess Fail", e);
                }
            }
        });
        processThread.start();

        Thread commandThread = new Thread(() -> {
            while (true) {
                try {
                    if(crnProtocol.getMode() != DualCrnModeType.AUTO.id) {
                        continue;
                    }

                    if(crnProtocol.getAlarm() != 0) {
                        continue;
                    }

//                    if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
//                        Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
//                        if (wait != null) {
//                            redisUtil.del(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
//                        }
//                    }

                    Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo());
                    if (commandListObj == null) {
                        continue;
                    }
                    List<SendDualCrnCommandParam> commandList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);

                    List<SendDualCrnCommandParam> newCommandList = new ArrayList<>();
                    for (SendDualCrnCommandParam commandParam : commandList) {
                        SendDualCrnCommandParam processed = processStation(commandParam);
                        if(processed != null) {
                            newCommandList.add(processed);
                        }
                    }

                    redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(newCommandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("DualCrnCommand Fail", e);
                }
            }
        });
        commandThread.start();
    }

    private SendDualCrnCommandParam processStation(SendDualCrnCommandParam commandParam) {
        Integer station = commandParam.getStation();
        Integer idx = commandParam.getCommandIdx();
        List<DualCrnCommand> commandList = commandParam.getCommands();
        if (idx >= commandList.size()) {
            return commandParam;
        }
        DualCrnCommand dualCommand = commandList.get(idx);

        boolean send = false;
        if (station == 1) {
            if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)
                    || crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)
            ) {
                send = true;
            }
        }else {
            if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)
                    || crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)
            ) {
                send = true;
            }
        }

        if (idx == 0) {
            if(send) {
                idx++;
                commandParam.setCommandIdx(idx);
                sendCommand(dualCommand);
                redisUtil.set(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo(), "lock", 5);
            }
            return commandParam;
        }else {
            if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                //等待下一个任务
                Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                if (wait != null) {
                    return commandParam;
                }

                Integer taskNo = dualCommand.getTaskNo();
                Object outTaskStationInfoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + taskNo);
                if (outTaskStationInfoObj != null) {
                    //检测出口站是否可执行放货动作
                    StationObjModel stationObjModel = JSON.parseObject(outTaskStationInfoObj.toString(), StationObjModel.class);
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                    if (stationThread == null) {
                        return commandParam;
                    }

                    Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                    StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                    if (stationProtocol == null) {
                        return commandParam;
                    }

                    if (!stationProtocol.isAutoing()) {
                        return commandParam;
                    }

                    if (stationProtocol.isLoading()) {
                        return commandParam;
                    }

                    if (stationProtocol.getTaskNo() > 0) {
                        return commandParam;
                    }
                }
            }

            if(send) {
                idx++;
                commandParam.setCommandIdx(idx);
                sendCommand(dualCommand);
            }
            return commandParam;
        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initCrn() {
        if (null == crnProtocol) {
            crnProtocol = new DualCrnProtocol();
            crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
        }
        crnProtocol.setMode(-1);

        //工位1
        crnProtocol.setTaskNo(0);
        crnProtocol.setStatus(-1);
        crnProtocol.setBay(0);
        crnProtocol.setLevel(0);
        crnProtocol.setForkPos(-1);
        crnProtocol.setLoaded(0);
        crnProtocol.setWalkPos(0);
        crnProtocol.setLiftPos(0);

        //工位2
        crnProtocol.setTaskNoTwo(0);
        crnProtocol.setStatusTwo(-1);
        crnProtocol.setBayTwo(0);
        crnProtocol.setLevelTwo(0);
        crnProtocol.setForkPosTwo(-1);
        crnProtocol.setLoadedTwo(0);
        crnProtocol.setWalkPosTwo(0);
        crnProtocol.setLiftPosTwo(0);

        crnProtocol.setAlarm(0);
        crnProtocol.setXSpeed(0D);
        crnProtocol.setYSpeed(0D);
        crnProtocol.setZSpeed(0D);
        crnProtocol.setXDistance(0D);
        crnProtocol.setYDistance(0D);
        crnProtocol.setXDuration(0D);
        crnProtocol.setYDuration(0D);

        BasDualCrnpService basDualCrnpService = null;
        try {
            basDualCrnpService = SpringUtils.getBean(BasDualCrnpService.class);
        }catch (Exception e){

        }
        if (basDualCrnpService != null) {
            BasDualCrnp basDualCrnp = basDualCrnpService.selectOne(new EntityWrapper<BasDualCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basDualCrnp == null) {
                basDualCrnp = new BasDualCrnp();
                basDualCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basDualCrnp.setStatus(1);
                basDualCrnp.setInEnable("N");
                basDualCrnp.setOutEnable("N");
                basDualCrnp.setMaxInTask(5);
                basDualCrnp.setMaxOutTask(5);
                basDualCrnp.setCreateTime(new Date());
                basDualCrnpService.insert(basDualCrnp);
            }
        }
    }

    @Override
    public boolean connect() {
        zyDualCrnConnectDriver = new ZyDualCrnConnectDriver(deviceConfig);
        zyDualCrnConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyDualCrnConnectDriver);
        return true;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        ZyDualCrnStatusEntity crnStatus = zyDualCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            return;
        }
        crnProtocol.setMode(crnStatus.getMode());

        //工位1
        crnProtocol.setTaskNo(crnStatus.getTaskNo());
        crnProtocol.setStatus(crnStatus.getStatus());
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setTaskReceive(crnStatus.getTaskReceive());

        //工位2
        crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
        crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
        crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
        crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
        crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());

        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
        crnProtocol.setWalkPos(crnStatus.getWalkPos());
        crnProtocol.setLiftPos(crnStatus.getLiftPos());
        crnProtocol.setAlarm(crnStatus.getAlarm());
        crnProtocol.setTemp1(crnStatus.getTemp1());
        crnProtocol.setTemp2(crnStatus.getTemp2());
        crnProtocol.setTemp3(crnStatus.getTemp3());
        crnProtocol.setTemp4(crnStatus.getTemp4());
        crnProtocol.setXSpeed(crnStatus.getXSpeed());
        crnProtocol.setYSpeed(crnStatus.getYSpeed());
        crnProtocol.setZSpeed(crnStatus.getZSpeed());
        crnProtocol.setXDistance(crnStatus.getXDistance());
        crnProtocol.setYDistance(crnStatus.getYDistance());
        crnProtocol.setXDuration(crnStatus.getXDuration());
        crnProtocol.setYDuration(crnStatus.getYDuration());
        crnProtocol.setGoodsType(crnStatus.getGoodsType());
        crnProtocol.setBarcode(crnStatus.getBarcode());

        OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));

        if (crnProtocol.getAlarm() > 0) {
            crnProtocol.setLastCommandTime(-1L);
        }

        if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
            crnProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            //保存数据记录
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
            deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
            deviceDataLog.setType(String.valueOf(SlaveType.DualCrn));
            deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
            deviceDataLog.setCreateTime(new Date());

            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }
        
        try {
            BasDualCrnpErrLogService errLogService = SpringUtils.getBean(BasDualCrnpErrLogService.class);
            if (errLogService != null) {
                String errFlagKey = RedisKeyType.DEVICE_ERR_ACTIVE_DUAL_CRN.key + crnProtocol.getCrnNo();
                Object active = redisUtil.get(errFlagKey);
                if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                    if (active == null) {
                        BasDualCrnpErrLog log = new BasDualCrnpErrLog();
                        Integer wrkNo = (crnProtocol.getTaskNo() != null && crnProtocol.getTaskNo() > 0) ? crnProtocol.getTaskNo() : crnProtocol.getTaskNoTwo();
                        log.setWrkNo(wrkNo);
                        log.setStartTime(new Date());
                        log.setCrnNo(crnProtocol.getCrnNo());
                        log.setBarcode(crnProtocol.getBarcode());
                        log.setErrCode(crnProtocol.getAlarm());
                        log.setStatus(1);
                        log.setCreateTime(new Date());
                        log.setSystemStatus(JSON.toJSONString(crnProtocol));
                        errLogService.insert(log);
                        if (log.getId() != null) {
                            redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
                        }
                    }
                } else {
                    if (active != null) {
                        Long id = Long.valueOf(String.valueOf(active));
                        BasDualCrnpErrLog update = new BasDualCrnpErrLog();
                        update.setId(id);
                        update.setEndTime(new Date());
                        update.setStatus(2);
                        update.setUpdateTime(new Date());
                        errLogService.updateById(update);
                        redisUtil.del(errFlagKey);
                    }
                }
            }
        } catch (Exception ignore) {}
    }

    @Override
    public void close() {
        if (zyDualCrnConnectDriver != null) {
            zyDualCrnConnectDriver.close();
        }
    }

    @Override
    public DualCrnProtocol getStatus() {
        return this.crnProtocol;
    }

    @Override
    public DualCrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.TRANSFER.id); // 任务模式:  取放货
        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getPickCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PICK.id); // 任务模式:  取货
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getPutCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PUT.id); // 任务模式:  放货
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 任务模式:  确认
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层
        crnCommand.setDestinationPosX(0);     // 目标库位排
        crnCommand.setDestinationPosY(0);     // 目标库位列
        crnCommand.setDestinationPosZ(0);     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        CommandResponse response = null;
        try {
            response = zyDualCrnConnectDriver.sendCommand(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasDualCrnpOptService bean = SpringUtils.getBean(BasDualCrnpOptService.class);
            ZyDualCrnStatusEntity statusEntity = zyDualCrnConnectDriver.getStatus();
            BasDualCrnpOpt basDualCrnpOpt = new BasDualCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basDualCrnpOpt);
            }
        }
    }
}