package com.zy.core.dispatcher;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.ShuttleGatherResult;
import com.zy.asrs.domain.param.ShuttleGatherParam;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

/**
 * 四向穿梭车调度工具
 */
@Service
public class ShuttleDispatchUtils {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private ConfigService configService;
    @Autowired
    private BasShuttleService basShuttleService;

    /**
     * 调度车辆-调度指定穿梭车
     */
    public boolean dispatchShuttle(Integer wrkNo, String sourceLocNo, String locNo, Integer shuttleNo, String flag) {
        return shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
    }

    /**
     * 调度车辆-调度指定穿梭车
     */
    public boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
        return shuttleMoveGenerate(wrkNo, locNo, shuttleNo);
    }

    /**
     * 调度车辆
     */
    public boolean searchDispatchShuttle(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (checkChargeWrk(shuttle.getId())) {
                continue;//存在充电任务，过滤小车
            }

            if (!shuttleThread.isIdle()) {
                continue;//小车忙碌中
            }

            BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
            if (basShuttle != null) {
                if (basShuttle.getStatus() == 0) {
                    continue;//小车被禁用
                }
            }

            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

            if (currentLocNo.equals(locNo)) {
                //车辆当前位置已经是目标库位，调度该车
                //给工作档绑定小车号
                WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
                    wrkMastService.updateById(wrkMast1);
                    return true;
                }
                break;
            }

            if (currentLev == Utils.getLev(locNo)) {
                //工作档楼层相同的穿梭车
                sameLev.add(shuttleThread);
            } else {
                //工作档不同楼层的穿梭车
                diffLev.add(shuttleThread);
            }

        }

        //优先调度同楼层小车，寻找离任务最近的穿梭车
        if (!sameLev.isEmpty()) {
            Map<Integer, ShuttleThread> sameShuttles = new TreeMap<>();//自然排序小车Map
            for (ShuttleThread shuttleThread : sameLev) {
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                Integer shuttleNo = shuttleProtocol.getShuttleNo();
                //当前穿梭车库位号
                String currentLocNo = shuttleProtocol.getCurrentLocNo();
                if (currentLocNo.equals(locNo)) {
                    sameShuttles.put(-1, shuttleThread);
                    continue;
                }

                //当前穿梭车线程到目标地点距离
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，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
                sameShuttles.put(currentAllDistance, shuttleThread);
            }

            //尝试调度同楼层小车
            for (Map.Entry<Integer, ShuttleThread> entry : sameShuttles.entrySet()) {
                ShuttleThread shuttleThread = entry.getValue();
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                Integer shuttleNo = shuttleProtocol.getShuttleNo();
                //尝试调度小车
                boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                if (result) {
                    return true;//调度成功
                }
            }
        }

        //执行到此处，同楼层无调度成功小车。需要进行跨楼层调度小车
        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
        if (!diffLev.isEmpty()) {
            Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map
            //获取任务
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
            if (wrkMast1 != null) {
                String targetLoc = wrkMast1.getIoType() < 100 ? wrkMast1.getLocNo() : wrkMast1.getSourceLocNo();
                int lev = Utils.getLev(targetLoc);//目标楼层

                //检测目标楼层车数量是否小于允许的最大数量
                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
                    return false;
                }

                for (ShuttleThread shuttleThread : diffLev) {
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);
//                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
//                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
//                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
//                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
//                        continue;
//                    }

                    //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                    int currentValue = Math.abs(lev - currentLev);
                    if (diffShuttles.get(currentValue) != null) {
                        diffShuttles.put(currentValue + 1, shuttleThread);
                    } else {
                        diffShuttles.put(currentValue, shuttleThread);
                    }
                }

                //尝试调度跨楼层小车
                for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) {
                    ShuttleThread shuttleThread = entry.getValue();
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    Integer shuttleNo = shuttleProtocol.getShuttleNo();
                    //尝试调度小车
                    boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                    if (result) {
                        return true;//调度成功
                    }
                }
            }
        }

        //News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return false;
    }

    /**
     * 调度车辆
     */
    public boolean searchDispatchShuttleS(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (checkChargeWrk(shuttle.getId())) {
                continue;//存在充电任务，过滤小车
            }

            if (!shuttleThread.isIdle()) {
                continue;//小车忙碌中
            }

            BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
            if (basShuttle != null) {
                if (basShuttle.getStatus() == 0) {
                    continue;//小车被禁用
                }
            }

            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

            if (currentLocNo.equals(locNo) || currentLocNo.equals(sourceLocNo)) {
                //车辆当前位置已经是目标库位，调度该车
                //给工作档绑定小车号
                WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
                    wrkMastService.updateById(wrkMast1);
                    sameLev.add(0,shuttleThread);
                    //return true;
                }
                break;
            }
            if (currentLev == Utils.getLev(sourceLocNo)) {
                //工作档楼层相同的穿梭车
                sameLev.add(shuttleThread);
            } else {
                //工作档不同楼层的穿梭车
                diffLev.add(shuttleThread);
            }


        }

        //优先调度同楼层小车，寻找离任务最近的穿梭车
        if (!sameLev.isEmpty()) {
            Map<Integer, ShuttleThread> sameShuttles = new TreeMap<>();//自然排序小车Map
            for (ShuttleThread shuttleThread : sameLev) {
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                Integer shuttleNo = shuttleProtocol.getShuttleNo();
                //当前穿梭车库位号
                String currentLocNo = shuttleProtocol.getCurrentLocNo();
                if (currentLocNo.equals(sourceLocNo)) {
                    sameShuttles.put(-1, shuttleThread);
                    continue;
                }

                //当前穿梭车线程到目标地点距离
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，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
                sameShuttles.put(currentAllDistance, shuttleThread);
            }

            //尝试调度同楼层小车
            for (Map.Entry<Integer, ShuttleThread> entry : sameShuttles.entrySet()) {
                ShuttleThread shuttleThread = entry.getValue();
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                Integer shuttleNo = shuttleProtocol.getShuttleNo();
                //尝试调度小车
                boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                if (result) {
                    return true;//调度成功
                }
            }
        }

        //执行到此处，同楼层无调度成功小车。需要进行跨楼层调度小车
        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
        if (!diffLev.isEmpty()) {
            Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map
            //获取任务
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
            if (wrkMast1 != null) {
                String targetLoc = wrkMast1.getIoType() < 100 ? wrkMast1.getLocNo() : wrkMast1.getSourceLocNo();
                int lev = Utils.getLev(targetLoc);//目标楼层

                //检测目标楼层车数量是否小于允许的最大数量
                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
                    return false;
                }

                for (ShuttleThread shuttleThread : diffLev) {
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);
//                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
//                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
//                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
//                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
//                        continue;
//                    }

                    //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                    int currentValue = Math.abs(lev - currentLev);
                    if (diffShuttles.get(currentValue) != null) {
                        diffShuttles.put(currentValue + 1, shuttleThread);
                    } else {
                        diffShuttles.put(currentValue, shuttleThread);
                    }
                }

                //尝试调度跨楼层小车
                for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) {
                    ShuttleThread shuttleThread = entry.getValue();
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    Integer shuttleNo = shuttleProtocol.getShuttleNo();
                    //尝试调度小车
                    boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                    if (result) {
                        return true;//调度成功
                    }
                }
            }
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return false;
    }

    /**
     * 调度车辆
     */
    public boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (checkChargeWrk(shuttle.getId())) {
                continue;//存在充电任务，过滤小车
            }

            if (!shuttleThread.isIdle()) {
                continue;//小车忙碌中
            }

            BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
            if (basShuttle != null) {
                if (basShuttle.getStatus() == 0) {
                    continue;//小车被禁用
                }
            }
            diffLev.add(shuttleThread);
        }

        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
        if (!diffLev.isEmpty()) {
            Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map
            //获取任务
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
            if (wrkMast1 != null) {
                int lev = 1;
                boolean b = wrkMast1.getIoType() < 100;
                if (b) {
                    //ruku
                    if (wrkMast1.getStaNo() == 1015) {
                        lev = 1;
                    } else {
                        lev = 5;
                    }
                } else {
                    lev = Utils.getLev(wrkMast1.getSourceLocNo());//目标楼层
                }


                //检测目标楼层车数量是否小于允许的最大数量
                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
                    return false;
                }

                for (ShuttleThread shuttleThread : diffLev) {
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);

                    if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
                        //车辆当前位置已经是目标库位，调度该车
                        //给工作档绑定小车号
                        diffShuttles.put(-1, shuttleThread);
                    } else {
                        //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                        int currentValue = Math.abs(lev - currentLev);
                        if (diffShuttles.get(currentValue) != null) {
                            diffShuttles.put(currentValue + 1, shuttleThread);
                        } else {
                            diffShuttles.put(currentValue, shuttleThread);
                        }
                    }
                }

                //尝试调度跨楼层小车
                for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) {
                    ShuttleThread shuttleThread = entry.getValue();
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    Integer shuttleNo = shuttleProtocol.getShuttleNo();
                    //尝试调度小车
                    boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                    if (result) {
                        return true;//调度成功
                    }
                }
            }
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return false;
    }


    /**
     * 小车迁移任务生成
     */
    @Transactional
    public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
        return shuttleMoveGenerate(wrkNo, null, locNo, shuttleNo, null, false);
    }

    /**
     * 小车迁移任务生成
     */
    @Transactional
    public boolean shuttleMoveGenerate(Integer wrkNo, String sourceLocNo, String locNo, Integer shuttleNo, String flag, boolean disableCheck) {
        Date now = new Date();
        //获取四向穿梭车线程
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            News.info("{}号小车，线程不存在", shuttleNo);
            return false;
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            News.info("{}号小车，线程不存在", shuttleNo);
            return false;
        }

        //小车处于空闲状态
        if (!shuttleThread.isIdle()) {
            News.info("{}号小车，忙碌中", shuttleNo);
            return false;
        }

        //判断穿梭车是否存在未完成的小车移库任务
        WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(shuttleNo);
        if (hasMoveWorking != null && !disableCheck) {//小车存在移库任务，等待执行完成后再生成新的任务
            News.info("{}号小车，存在移动任务，等待执行完成后再生成新的任务", shuttleNo);
            return false;
        }
        WrkMast mainWrkMast = null;
        //获取主工作档信息
        if (wrkNo != null) {
            mainWrkMast = wrkMastService.selectByWorkNo(wrkNo);
        }

        //判断是否有其他任务正在使用穿梭车
        WrkMast wrkMast2 = wrkMastService.selectShuttleWorking2(shuttleNo, wrkNo, mainWrkMast != null ? mainWrkMast.getMainWrkNo() : null);
        if (wrkMast2 != null && !disableCheck) {//小车存在其他工作档任务，等待执行完成后再生成新的任务
            if (mainWrkMast == null) {
                News.info("{}号小车，存在其他工作档任务，等待执行完成再生成新的任务", shuttleNo);
                return false;
            } else {
                if (mainWrkMast.getShuttleNo() != null && !mainWrkMast.getShuttleNo().equals(shuttleNo)) {
                    News.info("{}号小车，存在其他工作档任务，等待执行完成再生成新的任务", shuttleNo);
                    return false;
                }
            }
        }

        String currentLocNo = shuttleProtocol.getCurrentLocNo();
        if (sourceLocNo != null) {
            currentLocNo = sourceLocNo;
        }

        // 获取工作号
        int workNo = commonService.getWorkNo(WrkIoType.SHUTTLE_MOVE.id);
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setMk(flag);
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        wrkMast.setWrkSts(WrkStsType.NEW_MOVE.sts); // 工作状态：301.生成迁移任务
        wrkMast.setIoType(WrkIoType.SHUTTLE_MOVE.id); // 入出库状态： 200.小车迁移
        wrkMast.setIoPri(800D);
        wrkMast.setShuttleNo(shuttleNo);//穿梭车号
        wrkMast.setSourceLocNo(currentLocNo); // 源库位
        wrkMast.setLocNo(locNo); // 目标库位
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);

        if ("TRANSPORT_LIFT".equalsIgnoreCase(flag) || "TRANSPORT_DEVP".equalsIgnoreCase(flag)) {
            wrkMast.setMainWrkNo(wrkNo);
        }

        boolean res = wrkMastService.insert(wrkMast);
        if (!res) {
            News.error("小车迁移 --- 保存工作档失败！ 穿梭车号：" + shuttleNo);
            throw new CoolException("保存工作档失败");
        }

        //给工作档绑定小车号
        if (mainWrkMast != null) {
            mainWrkMast.setShuttleNo(shuttleNo);
            wrkMastService.updateById(mainWrkMast);
        }

        return true;
    }

    /**
     * 小车集合
     */
    public List<ShuttleGatherResult> shuttleGather(ShuttleGatherParam param) {
        Wrapper<BasShuttle> wrapper = new EntityWrapper<BasShuttle>().eq("status", 1);
        if (param != null) {
            if (!param.getShuttleNos().isEmpty()) {
                wrapper.in("shuttle_no", param.getShuttleNos());
            }
        }

        List<BasShuttle> basShuttles = basShuttleService.selectList(wrapper);
        List<ShuttleGatherResult> list = new ArrayList<>();
        for (BasShuttle basShuttle : basShuttles) {
            String idleLoc = basShuttle.getIdleLoc();
            if (Cools.isEmpty(idleLoc)) {
                continue;
            }

            boolean result = shuttleMoveGenerate(null, idleLoc, basShuttle.getShuttleNo());

            ShuttleGatherResult gatherResult = new ShuttleGatherResult();
            gatherResult.setShuttleNo(basShuttle.getShuttleNo());
            gatherResult.setIdleLoc(idleLoc);
            gatherResult.setResult(result);
            list.add(gatherResult);
        }
        return list;
    }

    /**
     * 检测目标楼层车数量是否小于允许的最大数量
     * true: 小于最大数量  false: 大于或等于最大数量
     */
    public boolean checkDispatchMaxNum(Integer lev) {
        EntityWrapper<Config> wrapper = new EntityWrapper<>();
        wrapper.eq("code", "dispatchShuttleMaxNum");
        Config config = configService.selectOne(wrapper);
        if (config == null) {
            return false;
        }

        int levCount = 0;//目标楼层车辆数量
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            //小车有充电任务
            if (shuttleThread.isCharging()) {
                continue;
            }

            //小车故障跳过
            if (shuttleThread.isFault()) {
                continue;
            }

            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                continue;
            }
            int currentLev = Utils.getLev(currentLocNo);

            if (lev == currentLev) {
                if (shuttleThread.isCharging()) {
                    continue;
                }
                levCount++;//目标楼层有车，数量增加
            }
        }

        //搜索是否存在前往目标楼层的小车移动工作档
        for (WrkMast wrkMast : wrkMastService.selectShuttleMoveWrk()) {
            if (wrkMast.getSourceLocNo() == null || wrkMast.getLocNo() == null) {
                continue;
            }

            int sourceLev = Utils.getLev(wrkMast.getSourceLocNo());//工作档源楼层
            int targetLev = Utils.getLev(wrkMast.getLocNo());//工作档目标楼层
            if (sourceLev == lev) {
                continue;//工作档楼层和目标楼层相同，跳过
            }

            if (targetLev == lev) {
                levCount++;//工作档目标楼层和实际楼层相同，数量增加
                continue;
            }
        }


        return levCount < Integer.parseInt(config.getValue());
    }


    /**
     * 检测是否穿梭车是否有充电任务
     */
    public boolean checkChargeWrk(int shuttleNo) {
        //判断是否有充电任务正在使用穿梭车
        WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleNo);
        if (wrkMast != null) {
            return true;//有充电任务
        }
        return false;//无充电任务
    }

    /**
     * 获取楼层可用小车数量
     */
    public int getShuttleCountByLev(int lev) {
        int count = 0;
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (checkChargeWrk(slave.getId())) {
                continue;//存在充电任务，过滤小车
            }

            if (!shuttleThread.isIdle()) {
                continue;
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
                //同一楼层可用小车
                count++;
                continue;
            }
        }
        return count;
    }

}