package com.zy.core.thread.impl;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasCrnpService;
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.enums.CrnTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyCrnConnectDriver;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import com.zy.core.thread.CrnThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * 堆垛机线程
 */
@Data
@Slf4j
public class ZySiemensCrnThread implements Runnable, CrnThread {

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

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

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        this.initCrn();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    case 2:
                        sendCommand((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(200);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initCrn() {
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
            crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
        }
        crnProtocol.setMode(-1);
        crnProtocol.setTaskNo(0);
        crnProtocol.setStatus(-1);
        crnProtocol.setBay(0);
        crnProtocol.setLevel(0);
        crnProtocol.setForkPos(-1);
        crnProtocol.setLiftPos(-1);
        crnProtocol.setWalkPos(0);
        crnProtocol.setLoaded(0);
        crnProtocol.setAlarm(0);
        crnProtocol.setXSpeed(0);
        crnProtocol.setYSpeed(0);
        crnProtocol.setZSpeed(0);
        crnProtocol.setXDistance(0);
        crnProtocol.setYDistance(0);
        crnProtocol.setXDuration(0);
        crnProtocol.setYDuration(0);
    }

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

    /**
     * 读取状态
     */
    private void readStatus(){
        ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
            return;
        }

        crnProtocol.setMode(crnStatus.getMode());
        crnProtocol.setTaskNo(crnStatus.getTaskNo());
        crnProtocol.setStatus(crnStatus.getStatus());
        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLiftPos(crnStatus.getLiftPos());
        crnProtocol.setWalkPos(crnStatus.getWalkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        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());

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

//        // 复位信号
//        if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//            if (resetFlag) {
//                if(crnProtocol.getTaskNo()==9999){
//                    backHpFlag = false;
//                }
//                CrnCommand crnCommand = new CrnCommand();
//                crnCommand.setAckFinish((short)1);
//                if (write(crnCommand)) {
//                    resetFlag = false;
//                }
//            }
//        }

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

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

        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 200) {
            //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.Crn));
            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());
        }

        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        if (basCrnpService != null) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basCrnp == null) {
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basCrnp.setStatus(1);
                basCrnp.setInEnable("N");
                basCrnp.setOutEnable("N");
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
            }
        }
    }

    @Override
    public void close() {
        zyCrnConnectDriver.close();
    }

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

    @Override
    public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 任务模式:  库位移转
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        return crnCommand;
    }

    @Override
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        return crnCommand;
    }

    @Override
    public CrnCommand getResetCommand(Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo((short) 0); // 工作号
        crnCommand.setAckFinish((short) 1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 任务模式
        crnCommand.setSourcePosX((short)0);     // 源库位排
        crnCommand.setSourcePosY((short)0);     // 源库位列
        crnCommand.setSourcePosZ((short)0);     // 源库位层
        crnCommand.setDestinationPosX((short)0);     // 目标库位排
        crnCommand.setDestinationPosY((short)0);     // 目标库位列
        crnCommand.setDestinationPosZ((short)0);     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        return crnCommand;
    }

    @Override
    public synchronized CommandResponse sendCommand(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        return zyCrnConnectDriver.sendCommand(command);
    }
}