package com.zy.core.network.real;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasDevpService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.Date;
import java.util.List;

/**
 * 输送站真实连接（PLC）
 */
@Slf4j
public class ZyStationV4RealConnect implements ZyStationConnectApi {

    private static final int TASK_AREA_LENGTH = 48;
    private static final int TASK_AREA_SLOT_SIZE = 12;
    private static final int TASK_AREA_SLOT_COUNT = 3;

    private List<ZyStationStatusEntity> statusList;
    private List<StationObjModel> barcodeOriginList;
    private SiemensS7Net siemensNet;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;

    public ZyStationV4RealConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
    }

    @Override
    public boolean connect() {
        boolean connected = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        OperateResult connect = siemensNet.ConnectServer();
        if (connect.IsSuccess) {
            connected = true;
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]",
                    DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
                    deviceConfig.getPort()));
            News.info("输送站plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]",
                    deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]",
                    DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
                    deviceConfig.getPort()));
            News.error("输送站plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]",
                    deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        }
//        siemensNet.ConnectClose();
        return connected;
    }

    @Override
    public boolean disconnect() {
        siemensNet.ConnectClose();
        return true;
    }

    @Override
    public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
        if (statusList == null) {
            BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
            if (basDevpService == null) {
                return Collections.emptyList();
            }

            BasDevp basDevp = basDevpService
                    .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
            if (basDevp == null) {
                return Collections.emptyList();
            }

            statusList = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
            if (statusList != null) {
                statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
            }
            barcodeOriginList = basDevp.getBarcodeStationList$();
        }

        if (siemensNet == null) {
            return statusList;
        }

        OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 10));
        if (result.IsSuccess) {
            byte[] taskBufferRaw = readTaskBufferRaw();
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i); // 站点编号
                statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 10)); // 工作号
                statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 4)); // 目标站

                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 6, 1);
                statusEntity.setAutoing(status[0]); // 自动
                statusEntity.setLoading(status[1]); // 有物
                statusEntity.setInEnable(status[2]); // 可入
                statusEntity.setOutEnable(status[3]);// 可出
                statusEntity.setEmptyMk(status[4]); // 空托盘
                statusEntity.setFullPlt(status[5]); // 满托盘

                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 7, 1);
                statusEntity.setEnableIn(status2[1]);//启动入库
                statusEntity.setRunBlock(status2[2]);//重新规划路线

                Integer palletHeight = null;
                if (status[7]) {
                    palletHeight = 1;//低
                }
                if (status2[0]) {
                    palletHeight = 2;//中
                }
                if (status[6]) {
                    palletHeight = 3;//高
                }
                statusEntity.setPalletHeight(palletHeight);//高低信号

                statusEntity.setError(0);//默认无报警

                statusEntity.setTaskWriteIdx((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 8));//任务可写区
                fillTaskBufferStatus(taskBufferRaw, i, statusEntity);
            }
        }

        // 条码扫描器
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.16", (short) (barcodeOriginList.size() * 16));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 16 + 2, 14, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
            }
        }

        // 称重
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.4", (short) (barcodeOriginList.size() * 4));
        if (result3.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                double weight = (double) siemensNet.getByteTransform().TransSingle(result3.Content, i * 4);
                barcodeEntity.setWeight(weight);
            }
        }

        // 报警信息
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.2", (short) (barcodeOriginList.size() * 2));
        if (result4.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }

                StringBuilder sb = new StringBuilder();
                boolean[] status1 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2, 1);
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2 + 1, 1);

                if(status1[0]){
                    sb.append("左超宽报警;");
                }
                if(status1[1]) {
                    sb.append("右超宽报警;");
                }
                if(status1[2]) {
                    sb.append("前超长报警;");
                }
                if(status1[3]) {
                    sb.append("后超长报警;");
                }
                if(status1[4]) {
                    sb.append("超高报警;");
                }
                if(status1[5]) {
                    sb.append("有货报警，空托入库时检测托盘上有无货物;");
                }
                if(status1[6]) {
                    sb.append("重量异常报警;");
                }
                if(status1[7]) {
                    sb.append("扫码异常;");
                }

                if(sb.length() > 0) {
                    barcodeEntity.setError(1);
                }else {
                    barcodeEntity.setError(0);
                }
                barcodeEntity.setErrorMsg(sb.toString());
            }
        }

        return statusList;
    }

    @Override
    public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
        CommandResponse commandResponse = new CommandResponse(false);
        if (null == command) {
            commandResponse.setMessage("命令为空");
            return commandResponse;
        }

        getStatus(deviceNo);

        int stationIdx = findIndex(command.getStationId());
        if (stationIdx == -1) {
            commandResponse.setMessage("命令下发失败，未找到站点状态");
            return commandResponse;
        }

        ZyStationStatusEntity statusEntity = statusList.get(stationIdx);
        Integer taskWriteIdx = statusEntity == null ? null : statusEntity.getTaskWriteIdx();
        if (taskWriteIdx == null || taskWriteIdx <= 0) {
            commandResponse.setMessage("命令下发失败，当前无可用任务写入区");
            return commandResponse;
        }

        int useTaskWriteIdx = getTaskWriteIdx(stationIdx, taskWriteIdx);
        if (useTaskWriteIdx == -1) {
            commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
            return commandResponse;
        }

        int taskBaseOffset = stationIdx * TASK_AREA_LENGTH + (useTaskWriteIdx * TASK_AREA_SLOT_SIZE);

        OperateResult writeTaskNo = siemensNet.Write("DB13." + taskBaseOffset, command.getTaskNo());
        if (!writeTaskNo.IsSuccess) {
            log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
            commandResponse.setResult(false);
            commandResponse.setMessage("命令下发失败，写入工作号失败");
            return commandResponse;
        }

        OperateResult writeTarget = siemensNet.Write("DB13." + (taskBaseOffset + 6), command.getTargetStaNo().shortValue());
        if (!writeTarget.IsSuccess) {
            log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
            commandResponse.setResult(false);
            commandResponse.setMessage("命令下发失败，写入目标设备号失败");
            return commandResponse;
        }

        log.info("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
        commandResponse.setResult(true);
        return commandResponse;
    }

    @Override
    public synchronized CommandResponse sendOriginCommand(String address, short[] data) {
        CommandResponse commandResponse = new CommandResponse(false);
        if (null == data || data.length == 0) {
            commandResponse.setMessage("数据为空");
            return commandResponse;
        }

        OperateResult write = siemensNet.Write(address, data);
        if (write.IsSuccess) {
            log.info("写入原始命令成功。地址={}，数据={}", address, JSON.toJSON(data));
            commandResponse.setResult(true);
        } else {
            log.error("写入原始命令失败。地址={}，数据={}", address, JSON.toJSON(data));
            commandResponse.setResult(false);
        }
        return commandResponse;
    }

    @Override
    public byte[] readOriginCommand(String address, int length) {
        OperateResultExOne<byte[]> result = siemensNet.Read(address, (short) length);
        if (result.IsSuccess) {
            return result.Content;
        }
        return new byte[0];
    }

    private ZyStationStatusEntity findStatusEntityByBarcodeIdx(Integer barcodeIdx) {
        Integer stationId = null;
        for (StationObjModel stationObjModel : barcodeOriginList) {
            if (stationObjModel.getBarcodeIdx().equals(barcodeIdx)) {
                stationId = stationObjModel.getStationId();
                break;
            }
        }

        for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
            if(zyStationStatusEntity.getStationId().equals(stationId)) {
                return zyStationStatusEntity;
            }
        }
        return null;
    }

    private int getTaskWriteIdx(int stationIdx, Integer taskWriteIdx) {
        int useIdx = -1;
        if (stationIdx < 0 || taskWriteIdx == null || taskWriteIdx <= 0) {
            return useIdx;
        }
        OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
        if (resultTask.IsSuccess) {
            int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE);
            int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE + 6);
            if (taskNo == 0 && targetPoint == 0) {
                useIdx = taskWriteIdx;
            }
        }
        return useIdx;
    }

    private byte[] readTaskBufferRaw() {
        int totalLength = statusList == null ? 0 : statusList.size() * TASK_AREA_LENGTH;
        if (totalLength <= 0) {
            return null;
        }
        OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13.0", (short) totalLength);
        if (!resultTask.IsSuccess || resultTask.Content == null || resultTask.Content.length < totalLength) {
            return null;
        }
        return resultTask.Content;
    }

    private void fillTaskBufferStatus(byte[] taskBufferRaw, int stationIdx, ZyStationStatusEntity statusEntity) {
        if (statusEntity == null || stationIdx < 0 || taskBufferRaw == null) {
            statusEntity.setTaskBufferItems(new ArrayList<>());
            return;
        }
        List<StationTaskBufferItem> itemList = new ArrayList<>();
        int stationOffset = stationIdx * TASK_AREA_LENGTH;
        if (stationOffset + TASK_AREA_LENGTH > taskBufferRaw.length) {
            statusEntity.setTaskBufferItems(itemList);
            return;
        }
        for (int slotIdx = 1; slotIdx <= TASK_AREA_SLOT_COUNT; slotIdx++) {
            int offset = stationOffset + (slotIdx * TASK_AREA_SLOT_SIZE);
            int taskNo = siemensNet.getByteTransform().TransInt32(taskBufferRaw, offset);
            int targetPoint = siemensNet.getByteTransform().TransInt16(taskBufferRaw, offset + 6);
            StationTaskBufferItem item = new StationTaskBufferItem();
            item.setSlotIdx(slotIdx);
            item.setTaskNo(taskNo);
            item.setTargetStaNo(targetPoint);
            itemList.add(item);
        }
        statusEntity.setTaskBufferItems(itemList);
    }

    private int findIndex(Integer stationId) {
        for (int i = 0; i < statusList.size(); i++) {
            ZyStationStatusEntity statusEntity = statusList.get(i);
            if (statusEntity.getStationId().equals(stationId)) {
                return i;
            }
        }
        return -1;
    }

}