package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.zy.common.model.NavigateNode;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import springfox.documentation.spring.web.json.Json;

import java.io.*;
import java.net.Socket;
import java.util.*;

/**
 * 牛眼四向穿梭车HTTP请求工具类
 */
public class NyHttpUtils {

    private static final boolean DEBUG = true;//调试模式

    //获取HTTP请求标准结构体
    public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer wrkNo) {
        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
        httpStandard.setMsgType("requestMsg");//请求消息
        httpStandard.setRobotId(shuttleNo);//车辆编号
        httpStandard.setWrkNo(wrkNo);//工作号

        //设置请求消息
        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
        NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
        header.setVersion("1.0");//版本号
        header.setRequestId(getRequestId());//消息编号

        //设置请求头
        request.setHeader(header);
        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取FAS 手动/自动切换
    public static NyShuttleHttpCommand getFASSwitchCommand(Integer shuttleNo, boolean auto) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", auto ? "switchAuto" : "switchManual");
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取移动请求
    public static NyShuttleHttpCommand getMoveCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取进出提升机请求
    public static NyShuttleHttpCommand getInOutLiftCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target, boolean in) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        NyShuttleProtocol.NyShuttlePointClass nyStartPoint = new NyShuttleProtocol.NyShuttlePointClass();
        NyShuttleProtocol.NyShuttlePointClass nyTargetPoint = new NyShuttleProtocol.NyShuttlePointClass();
        if (in) {
            //进提升机
            nyStartPoint = navigateNodeToNyPointNode(start);
            nyTargetPoint.setX(target.getX());
            nyTargetPoint.setY(target.getY());
            nyTargetPoint.setZ(target.getZ());
        }else {
            //出提升机
            nyTargetPoint = navigateNodeToNyPointNode(target);
            nyStartPoint.setX(start.getX());
            nyStartPoint.setY(start.getY());
            nyStartPoint.setZ(start.getZ());
        }

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("start", nyStartPoint);//起点
        body.put("target", nyTargetPoint);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取顶升命令
    public static NyShuttleHttpCommand getPalletLiftCommand(Integer shuttleNo, Integer wrkNo, boolean lift) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取充电命令
    public static NyShuttleHttpCommand getChargeCommand(Integer shuttleNo, Integer wrkNo, boolean charge) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取管制命令
    public static NyShuttleHttpCommand getSuspendCommand(Integer shuttleNo, Integer wrkNo, boolean suspend) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", suspend ? "stop" : "resume");//管制或取消管制
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新层坐标Z(楼层)命令
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z, Integer wrkNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateFloor");//更新层Z
        body.put("z", z);//坐标Z
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取读FAS状态信息命令
    public static NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "readState");//读FAS状态信息
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS基准地图命令
    public static NyShuttleHttpCommand getUpdateFASBaseMapCommand(Integer shuttleNo, Integer xBase, Integer yBase, Integer zBase, Integer xEnd, Integer yEnd, Integer zEnd, Integer xBaseCoord, Integer yBaseCoord, Integer xDefaultSpace, Integer yDefaultSpace) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapStandard");//更新FAS基准地图

        HashMap<String, Object> standard = new HashMap<>();
        standard.put("xBase", xBase);//库位X向基点
        standard.put("yBase", yBase);//库位Y向基点
        standard.put("zBase", zBase);//库位Z向基点
        standard.put("xEnd", xEnd);//库位X向终点
        standard.put("yEnd", yEnd);//库位Y向终点
        standard.put("zEnd", zEnd);//库位Z向终点
        standard.put("xBaseCoord", xBaseCoord);//库位X向基点坐标 单位mm
        standard.put("yBaseCoord", yBaseCoord);//库位Y向基点坐标 单位mm
        standard.put("xDefaultSpace", xDefaultSpace);//库位X向标准间距 单位mm
        standard.put("yDefaultSpace", yDefaultSpace);//库位Y向标准间距 单位mm
        body.put("standard", standard);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊X轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialXAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialXAxis");//更新FAS特殊X轴地图
        body.put("specialXAxis", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊Y轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialYAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialYAxis");//更新FAS特殊Y轴地图
        body.put("specialYAxis", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊库位点地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialPointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialPoint");//更新FAS特殊库位点地图
        body.put("specialPoint", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS提升机点位地图命令
    public static NyShuttleHttpCommand getUpdateMapDevicePointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapDevicePoint");//更新FAS提升机点位地图
        body.put("devicePoint", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取单个RFID录写命令
    public static NyShuttleHttpCommand getWriteSingleRFIDCommand(Integer shuttleNo, Integer xPoint, Integer yPoint, Integer zPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "WriteSingleRFID");//单个RFID录写
        body.put("xPoint", xPoint);//X 点位
        body.put("yPoint", yPoint);//Y 点位
        body.put("zPoint", zPoint);//Z 点位
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取自动录写RFID命令
    public static NyShuttleHttpCommand getAutoWriteRFIDCommand(Integer shuttleNo, Integer dir, Integer xBase, Integer yBase, Integer zBase, Integer pointEnd, List<Integer> specialPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "AutoWriteRFID");//自动录写RFID
        body.put("requestCode", dir);//方向xDir/yDir
        body.put("xBase", xBase);//X 起始点位
        body.put("yBase", yBase);//Y 起始点位
        body.put("zBase", zBase);//Z 起始点位
        body.put("pointEnd", pointEnd);//终点坐标 根据requestCode来决定终点坐标的方向
        body.put("specialPoint", specialPoint);//特殊点位过程中不需要录制的RFID点位
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取请求编号
    public static Integer getRequestId() {
        Random random = new Random();
        return random.nextInt(9999999);
    }

    //获取TaskId
    public static Integer getTaskId() {
        Random random = new Random();
        return random.nextInt(999999);
    }

    //发出请求
    public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) throws IOException {
        if (socket == null) {
            return null;
        }

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");

        // 获取输入流和输出流
        BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
        OutputStreamWriter writer = new OutputStreamWriter(socket.getOutputStream());
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        // 读取服务器的响应
        StringBuffer sb = new StringBuffer();
        char[] chars = new char[2048];//缓冲区
        while (true) {
            reader.read(chars);
            String trim = new String(chars);
            sb.append(trim);
            if (trim.lastIndexOf("\r\n") != -1) {
                break;
            }
        }

        JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
        if (!result.get("msgType").equals("responseMsg")) {//不是响应内容
            return null;
        }

        JSONObject resultResponse = JSON.parseObject(result.get("response").toString());
        JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
        int responseId = Integer.parseInt(resultHeader.get("responseId").toString());
        if (!DEBUG && responseId != httpCommand.getRequest().getHeader().getRequestId()) {
            return null;//响应ID与请求ID不一致，不在调试模式下
        }

        return filterBodyData(result);//返回Body结果集
    }

    public static JSONObject filterBodyData(JSONObject data) {
        Object response = data.get("response");
        if (response == null) {
            return null;
        }

        JSONObject result = JSON.parseObject(response.toString());
        Object body = result.get("body");
        if (body == null) {
            return null;
        }
        JSONObject jsonBody = JSON.parseObject(body.toString());
        return jsonBody;
    }

    //地图节点转换牛眼节点
    public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
        int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS系统坐标转牛眼坐标
        NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
        point.setX(NyPosition[0]);
        point.setY(NyPosition[1]);
        point.setZ(NyPosition[2]);
        return point;
    }

}