package com.zy.asrs.utils;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.DevpThread;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.NyShuttleThread;

import java.text.DecimalFormat;
import java.util.*;
import java.util.regex.Pattern;

/**
 * Created by vincent on 2020/8/27
 */
public class Utils {

    public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(1);
    }};
    public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(3);add(4);
    }};
    public static final List<Integer> THIRD_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(6);add(7);
    }};
    public static final List<Integer> FOURTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(8);
    }};
    public static final List<Integer> FIFTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(10);add(11);
    }};
    public static final List<Integer> SIXTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(13);add(14);add(15);add(16);
    }};
    public static final List<Integer> SEVENTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(13);add(14);
    }};
    public static final List<Integer> EIGHTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(16);
    }};

    private static final DecimalFormat fmt = new DecimalFormat("##0.00");

    public static float scale(Float f){
        if (f == null || f == 0f || Float.isNaN(f)) {
            return 0f;
        }
        return (float) Arith.multiplys(2, f, 1);
    }

    public static String zerofill(String msg, Integer count){
        if (msg.length() == count){
            return msg;
        } else if (msg.length() > count){
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for (int i = 0; i<count-msg.length(); i++){
                msgBuilder.insert(0,"0");
            }
            return msgBuilder.toString();
        }
    }

    public static Integer getGroupRow(String locNo, Boolean pakin){
        int row = getRow(locNo);
        return getGroupRow(row, pakin);
    }

    public static Integer getGroupRow(Integer row, Boolean pakin) {
        if (FIRST_GROUP_ROW_LIST.contains(row)) {
            return 4;
        } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
            return 5;
        } else {
            return 0;
        }
//        if (pakin) {
//            if (FIRST_GROUP_ROW_LIST.contains(row)) {
//                return 2;
//            } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
//                return 18;
//            } else {
//                return 0;
//            }
//        } else {
//            if (FIRST_GROUP_ROW_LIST.contains(row)) {
//                return 12;
//            } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
//                return 30;
//            } else {
//                return 0;
//            }
//        }
    }

    /**
     * 判断库位是否为穿梭库位
     * @param locNo
     * @return
     */
    public static Boolean isShuttle(String locNo) {
        int row = Utils.getRow(locNo);
        if (row >= 2 && row <= 12) {
            return Boolean.TRUE;
        }
        return Boolean.FALSE;
    }

    // -------------------------------------------------------------------------------------------------------------------



    /**
     * 判断是否为深库位
     */
    public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
        if (slaveProperties.isDoubleDeep()) {
            int row = getRow(locNo);
            return slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为深库位
     */
    public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
        if (slaveProperties.isDoubleDeep()) {
            return slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为浅库位
     */
    public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
        if (slaveProperties.isDoubleDeep()) {
            int row = getRow(locNo);
            return !slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为浅库位
     */
    public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
        if (slaveProperties.isDoubleDeep()) {
            return !slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 获取 深库位对应的浅库位号
     */
    public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
        int row = getRow(deepLoc);
        int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
        int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
        return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
    }


    /**
     * 获取 深库位排对应的浅库位排
     */
    public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
        int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
        return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
    }

    /**
     * 获取 浅库位对应的深库位号
     */
    public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
        int row = getRow(shallowLoc);
        int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
        int targetRow;
        if (remainder == 2) {
            targetRow = row - 1;
        } else if (remainder == 1) {
            targetRow = row + 1;
        } else {
            throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
        }
        return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
    }

    /**
     * 获取 浅库位排对应的深库位排
     */
    public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
        int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
        int targetRow;
        if (remainder == 2) {
            targetRow = shallowRow - 1;
        } else if (remainder == 1) {
            targetRow = shallowRow + 1;
        } else {
            throw new RuntimeException(shallowRow + "不是浅库位排，系统繁忙");
        }
        return targetRow;
    }

    /**
     * 通过库位号获取 排
     */
    public static int getRow(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(0, 2));
        }
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 通过库位号获取 列
     */
    public static int getBay(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(2, 5));
        }
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 通过库位号获取 层
     */
    public static int getLev(String locNo) {
        if (!Cools.isEmpty(locNo)) {
            return Integer.parseInt(locNo.substring(5, 7));
        }
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 通过排列层拼接出库位号
     */
    public static String append(int row, int bay, int lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }

    public static String getLocNo(Number row, Number bay, Number lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }

    public static void main(String[] args) {
        System.out.println(JSON.toJSONString(getGroupLoc("1606101")));
    }

    /**
     * 获取库位组
     * @param locNo 库位号
     */
    public static List<String> getGroupLoc(String locNo){
        int row = getRow(locNo);
        int bay = getBay(locNo);
        if (FIRST_GROUP_ROW_LIST.contains(row)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : FIRST_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        if (SECOND_GROUP_ROW_LIST.contains(row)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : SECOND_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        if (THIRD_GROUP_ROW_LIST.contains(row)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : THIRD_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            Collections.reverse(result);
            return result;
        }
        if (FOURTH_GROUP_ROW_LIST.contains(row)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : FOURTH_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        if (FIFTH_GROUP_ROW_LIST.contains(row)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : FIFTH_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            Collections.reverse(result);
            return result;
        }
        if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : SEVENTH_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
            List<String> result = new ArrayList<>();
            for (Integer row0 : EIGHTH_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
            }
            return result;
        }
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 获取外侧方向的库位组
     * @param locNo 库位号
     */
    public static List<String> getGroupOuterLoc(String locNo){
        int row = getRow(locNo);
        int bay = getBay(locNo);

        //(1,3,4,10,11)没有外侧方向库位组,(13,14,16)59列之内没有外侧方向库位组
        if (FIRST_GROUP_ROW_LIST.contains(row)) {//1排
            return new ArrayList<>();
        }
        if (SECOND_GROUP_ROW_LIST.contains(row)) {//3-4排
            return new ArrayList<>();
        }
        if (THIRD_GROUP_ROW_LIST.contains(row)) {//6-7排
            List<String> result = new ArrayList<>();
            for (Integer row0 : THIRD_GROUP_ROW_LIST) {
                if (row0 < row) {
                    result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
                }
            }
            return result;
        }
        if (FOURTH_GROUP_ROW_LIST.contains(row)) {//8排
            return new ArrayList<>();
        }
        if (FIFTH_GROUP_ROW_LIST.contains(row)) {//10-11排
            return new ArrayList<>();
        }
        if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {//13-16排59-61列外侧方向库位组
            List<String> result = new ArrayList<>();
            for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
                if (row0 < row) {
                    result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
                }
            }
            return result;
        }
        if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//13-14排59列之内没有外侧方向库位组
            return new ArrayList<>();
        }
        if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//16排59列之内没有外侧方向库位组
            return new ArrayList<>();
        }
        throw new RuntimeException("库位解析异常");
    }

    //获取除白名单外的指定楼层全部穿梭车xy坐标点
    public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
        BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        ArrayList<int[]> list = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            if (slave.getId().intValue() == whiteShuttle) {
                continue;//跳过白名单
            }

            //获取穿梭车所在节点位置
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

            String currentLocNo = shuttleProtocol.getCurrentLocNo();

            if (currentLocNo == null) {
                //小车没有库位号数据，从数据库中取
                BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
                if (basShuttle == null || basShuttle.getPoint() == null) {
                    continue;
                }
                NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
                currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
            }

            if (lev != Utils.getLev(currentLocNo)) {
                continue;//楼层不同
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }
            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
    }

    //搜索一条没有小车的空巷道，并调度小车
    public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
        CommonService commonService = SpringUtils.getBean(CommonService.class);
        ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);

        if (shuttleThread == null) {
            return false;
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return false;
        }

        NavigateMapData mapData = new NavigateMapData(z);//获取地图数据
        int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//载入全部车辆

        int moveBay = 23;//避让起始列
        int bay = Utils.getBay(shuttleProtocol.getCurrentLocNo());//小车当前列
        if (bay > 1 && bay <= 30) {
            moveBay = 23;
        } else if (bay > 30 && bay <= 45) {
            moveBay = 39;
        } else if (bay > 45) {
            moveBay = 50;
        }

        int distY = -1;
        int distX = -1;
        int distZ = -1;
        //获取避让库位
        String distLocNo = null;
        for (int y = moveBay; y <= 56; y++) {
            boolean searchFlag = true;
            for (int x = 10; x <= 11; x++) {
                if (data[x][y] < 0 || data[x][y] == 66) {
                    searchFlag = false;//该巷道有禁用节点或有小车
                    break;
                }
            }

            if (searchFlag) {
                //搜索出空巷道
                distY = y;
                distX = 11;
                distZ = z;

                //获取避让库位
                String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
                LocMast distLocMast = locMastService.queryByLoc(locNo);
                if (distLocMast == null) {
                    continue;
                }

                //判断该库位是否存在工作档
                EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
                wrapper.eq("loc_no", locNo);
                WrkMast wrkMast = wrkMastService.selectOne(wrapper);
                if (wrkMast != null) {
                    continue;//存在工作档跳过该库位
                }

                distLocNo = locNo;
                break;
            }
        }

        if (distLocNo != null) {
            //调度小车到避让位置
            return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
        }
        return false;
    }

    //检测楼层是否有穿梭车
    public static boolean checkLevHasShuttle(Integer lev) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            if (shuttleThread == null) {
                continue;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }
            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                continue;
            }

            if (lev == Utils.getLev(currentLocNo)) {
                return true;//指定楼层有穿梭车
            }
        }

        return false;//指定楼层没有穿梭车
    }

    //检测库位组是否存在小车，存在返回小车号。
    public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
        if (groupLoc == null) {
            return null;
        }

        if (groupLoc.isEmpty()) {
            return null;
        }

        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        if (slaveProperties == null) {
            return null;
        }

        for (String loc : groupLoc) {
            for (ShuttleSlave slave : slaveProperties.getShuttle()) {
                NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
                if (shuttleThread == null) {
                    continue;
                }

                NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    continue;
                }

                if (shuttleProtocol.getCurrentLocNo() == null) {
                    continue;
                }

                if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
                    //存在小车
                    return slave.getId();
                }
            }
        }

        return null;
    }

    //通过提升机号和楼层获取出入库模式
    public static Integer getOutInModelByLift(Integer liftNo, Integer lev) {
        ArrayList<Integer> lev1 = new ArrayList<Integer>() {{
            add(100);add(103);
            add(105);
        }};
        ArrayList<Integer> lev2 = new ArrayList<Integer>() {{
            add(200);add(203);
            add(205);
        }};
        ArrayList<Integer> lev3 = new ArrayList<Integer>() {{
            add(341);add(346);
        }};

        Integer staNo = null;
        if (lev <= 4) {
            staNo = lev1.get(liftNo - 1);
        } else if (lev >= 5 && lev <= 7) {
            staNo = lev2.get(liftNo - 1);
        } else if ((lev >=8 && lev <= 10) && liftNo != 1) {
            staNo = lev3.get(liftNo - 2);
        }

        if (staNo != null) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(staNo);
            if (staProtocol == null) {
                return null;
            }

            if (staNo == 100 || staNo == 200) {//1号提升机100站和200站默认全是出库模式
                return 2;//出库模式
            }

            if (staNo == 341) {
                return 1;//341站默认只能入库模式
            }

            if (staProtocol.getOutInModel() == null) {
                return null;//没有出入库信号
            }

            return staProtocol.getOutInModel().intValue();
        }
        return null;
    }

    public static void wapperSetCondition(Wrapper wrapper, String column, String condition){
        if(Cools.isEmpty(condition) || "null".equals(condition)){
            wrapper.andNew().eq(column,"").or().isNull(column);
        }else {
            wrapper.eq(column,condition);
        }
    }

    /**
     * 获取内侧方向的库位组
     * @param locNo 库位号
     */
    public static List<String> getGroupInnerLoc(String locNo){
        int row = getRow(locNo);
        int bay = getBay(locNo);

        //(1,3,4,10,11)没有内侧方向库位组,(13,14,16)59列之内没有内侧方向库位组
        if (FIRST_GROUP_ROW_LIST.contains(row)) {//1排
            return new ArrayList<>();
        }
        if (SECOND_GROUP_ROW_LIST.contains(row)) {//3-4排
            return new ArrayList<>();
        }
        if (THIRD_GROUP_ROW_LIST.contains(row)) {//6-7排
            List<String> result = new ArrayList<>();
            for (Integer row0 : THIRD_GROUP_ROW_LIST) {
                if (row0 > row) {
                    result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
                }
            }
            return result;
        }
        if (FOURTH_GROUP_ROW_LIST.contains(row)) {//8排
            return new ArrayList<>();
        }
        if (FIFTH_GROUP_ROW_LIST.contains(row)) {//10-11排
            return new ArrayList<>();
        }
        if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {//13-16排59-61列内侧方向库位组
            List<String> result = new ArrayList<>();
            for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
                if (row0 > row) {
                    result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
                }
            }
            return result;
        }
        if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//13-14排59列之内没有内侧方向库位组
            return new ArrayList<>();
        }
        if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//16排59列之内没有内侧方向库位组
            return new ArrayList<>();
        }
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 通过入库站点号获取条码器ID
     */
    public static Integer getBarcodeIdByStaNo(int staNo) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        for (DevpSlave devpSlave : slaveProperties.getDevp()) {
            for (DevpSlave.Sta sta : devpSlave.getInSta()) {
                if (sta.getStaNo().equals(staNo)) {
                    return sta.getBarcode();
                }
            }
        }
        return null;
    }
    /**
     * 判断字符串是否为JSON格式
     */
    public static boolean isJson(String jsonString) {
        // JSON格式的正则表达式
        String pattern = "^\\{.*\\}$";
        // 使用Pattern类进行正则匹配
        return Pattern.matches(pattern, jsonString);
    }
}