package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.impl.NyLiftThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;

/**
 * 提升机工具类
 */
public class LiftUtils {

    //获取提升机站点
    public static LiftStaProtocol getLiftStaByStaNo(Integer staNo) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
            if (liftThread == null) {
                return null;
            }

            for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                if (liftStaProtocol.getStaNo().equals(staNo)) {
                    return liftStaProtocol;
                }
            }
        }

        return null;
    }

    //获取提升机站点
    public static LiftStaProtocol getLiftStaByLev(Integer liftNo, Integer lev) {
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
        if (liftThread == null) {
            return null;
        }

        for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
            if (liftStaProtocol.getLev().equals(lev)) {
                return liftStaProtocol;
            }
        }

        return null;
    }

    //获取提升机输送站及其前一站节点
    public static List<NavigateNode> getLiftStaNodes(Integer staNo) {
        List<NavigateNode> targetNodes = new ArrayList<>();
        //获取目标站
        LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByStaNo(staNo);
        if (targetLiftSta == null) {
            return null;//找不到站点
        }
        NavigateNode targetNode = NavigatePositionConvert.locNoToNode(targetLiftSta.getLocNo());//目标节点
        String targetLastLocNo = Utils.getLocNo(Utils.getRow(targetLiftSta.getLocNo()) - 1, Utils.getBay(targetLiftSta.getLocNo()), Utils.getLev(targetLiftSta.getLocNo()));//目标节点前一站
        NavigateNode targetLastNode = NavigatePositionConvert.locNoToNode(targetLastLocNo);//目标节点前一站
        targetNodes.add(targetNode);
        targetNodes.add(targetLastNode);

        return targetNodes;
    }

    //通过输送线站号获取对应提升机号
    public static Integer getConveyorBindLiftNo(Integer staNo) {
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService == null) {
            return null;
        }

        Config conveyorLiftBindConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "conveyorLiftBind"));
        if(conveyorLiftBindConfig == null) {
            return null;
        }

        List<JSONObject> list = JSON.parseArray(conveyorLiftBindConfig.getValue(), JSONObject.class);
        if (list.isEmpty()) {
            return null;
        }

        for (JSONObject data : list) {
            if(data.getInteger("staNo").equals(staNo)) {
                return data.getInteger("liftNo");
            }
        }

        return null;
    }

    //请求上级系统，是否允许出库
    //查询是否有出库权限
    public static boolean queryOutMission(Integer staNo) {
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService == null) {
            return false;
        }

        Config queryOutMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPathEnable"));
        if (queryOutMissionPathEnableConfig != null) {
            String queryOutMissionPathEnable = queryOutMissionPathEnableConfig.getValue();
            if (!queryOutMissionPathEnable.equals("Y")) {
                return true;//关闭查询出库权限功能
            }
        }

        Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri"));
        if (superSystemUriConfig == null) {
            return false;
        }
        String superSystemUri = superSystemUriConfig.getValue();

        Config queryOutMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPath"));
        if (queryOutMissionPathConfig == null) {
            return false;
        }
        String missionPath = queryOutMissionPathConfig.getValue();

        try {
            HashMap<String, Object> data = new HashMap<>();
            data.put("staNo", staNo);

            String response = new HttpHandler.Builder()
                    .setUri(superSystemUri)
                    .setPath(missionPath)
                    .setJson(JSON.toJSONString(data))
                    .build()
                    .doPost();
            if (response.equals("ok")) {
                return true;//有出库权限
            }
        }catch (Exception e){
            e.printStackTrace();
        }
        return false;
    }

    //请求上级系统，是否允许入库
    //查询是否有入库权限
    public static boolean queryInMission(Integer sourceStaNo, Integer liftNo, String superTaskNo) {
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService == null) {
            return false;
        }

        Config queryInMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPathEnable"));
        if (queryInMissionPathEnableConfig != null) {
            String queryInMissionPathEnable = queryInMissionPathEnableConfig.getValue();
            if (!queryInMissionPathEnable.equals("Y")) {
                return true;//关闭查询入库权限功能
            }
        }

        Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri"));
        if (superSystemUriConfig == null) {
            return false;
        }
        String superSystemUri = superSystemUriConfig.getValue();

        Config queryInMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPath"));
        if (queryInMissionPathConfig == null) {
            return false;
        }
        String missionPath = queryInMissionPathConfig.getValue();

        try {
            HashMap<String, Object> data = new HashMap<>();
            data.put("staNo", sourceStaNo);
            data.put("liftNo", liftNo);
            data.put("superTaskNo", superTaskNo);

            String response = new HttpHandler.Builder()
                    .setUri(superSystemUri)
                    .setPath(missionPath)
                    .setJson(JSON.toJSONString(data))
                    .build()
                    .doPost();
            if (response.equals("ok")) {
                return true;//有入库权限
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    /**
     * 获取坐标最近且正常的提升机
     */
    public static LiftThread getRecentLift(String locNo) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);

        String currentLocNo = locNo;
        Integer recentAllDistance = 9999999;
        LiftThread recentLift = null;//最近站点
        for (LiftSlave slave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                continue;
            }

            if (!liftThread.isDeviceIdle()) {
                continue;
            }

            //搜索距离小车最近的提升机
            String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(locNo));
            if (locNo.equals(liftLocNo)) {
                return liftThread;
            }

            //目标地点距离
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, liftLocNo, NavigationMapType.NORMAL.id, null, null);//使用正常通道地图
            if (currentShuttlePath == null) {
                continue;
            }
            Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            if (currentAllDistance < recentAllDistance) {
                //如果当前楼层的路径更小，则更新最近站点
                recentLift = liftThread;
                recentAllDistance = currentAllDistance;
            }
        }

        return recentLift;
    }

}