package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
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.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Random;

/**
 * 四向穿梭车接口
 */
@Slf4j
@RestController
@RequestMapping("/shuttle")
public class ShuttleController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private WrkMastService wrkMastService;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
    public R steStateTable(){
        List<ShuttleStateTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
            // 表格行
            ShuttleStateTableVo vo = new ShuttleStateTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //四向穿梭车号
            list.add(vo);
            // 获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                continue;
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
                vo.setStatus(shuttleProtocol.getBusyStatusType().desc); //  状态
            }
            vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
            if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                vo.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode()));
            }
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode()));
            }
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/shuttle/msg")
    @ManagerAuth(memo = "四向穿梭车数据表")
    public R steMsgTable(){
        List<ShuttleMsgTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
            // 表格行
            ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //  四向穿梭车号
            list.add(vo);
            // 获取穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            if (shuttleProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
                    //vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            }
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());  // 速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
        }
        return R.ok().add(list);
    }

    @PostMapping("/latest/data/shuttle")
    @ManagerAuth(memo = "四向穿梭车实时数据")
    public R shuttleLatestData(){
        return R.ok();
    }

    @PostMapping("/output/shuttle")
    @ManagerAuth
    public R steOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.SHUTTLE.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    @GetMapping("/detl/{shuttleNo}")
    public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleDataVo vo = new ShuttleDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
                if (!Cools.isEmpty(basShuttle)) {
                    vo.setRow(basShuttle.getRow());
                    vo.setBay(basShuttle.getBay());
                    vo.setLev(basShuttle.getLev());
                    vo.setWorkNo(basShuttle.getWrkNo());
                    vo.setPakMk(basShuttle.getPakMk());
                }
                break;
            }
        }
        return R.ok().add(vo);
    }

    @GetMapping("/sensor/detl/{shuttleNo}")
    public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                // 获取穿梭车信息
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    return R.error("设备不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    return R.error("设备不在线");
                }

                // 穿梭车异常 -----------

                // 穿梭车提示信息 ----------------------

                // 任务信息 ----------------
                vo.setPakInTask(shuttleProtocol.isPakInTask());
                vo.setPakOutTask(shuttleProtocol.isPakOutTask());
                vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
                vo.setGoHpTask(shuttleProtocol.isGoHpTask());
                vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
                vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
                vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
                vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
                vo.setPakInFinish(shuttleProtocol.isPakInFinish());
                vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
                vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
                vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
                vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
                vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
                vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());

                // 状态信息 -------------

                break;
            }
        }
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth
    public R steUpdate(ShuttleDataVo vo){
        BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
        if (basShuttle == null) {
            return R.error();
        }
        // 获取四向穿梭车信息
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
        }
//        if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
//            if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
//                throw new CoolException("服务器错误");
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } else {
            throw new CoolException("命令下发失败");
        }
        basShuttle.setRow(vo.getRow());
        basShuttle.setBay(vo.getBay());
        basShuttle.setLev(vo.getLev());

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
        }
        return R.ok();
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "手动操作")
    @PostMapping("/operator/shuttle")
    public R shuttleOperator(ShuttleOperatorParam param){
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.parse(BaseRes.PARAM);
        }

        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    throw new CoolException("四向穿梭车不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    throw new CoolException("四向穿梭车不在线");
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                ShuttleAssignCommand command = new ShuttleAssignCommand();
                command.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                command.setTaskMode(shuttleTaskModeType.id.shortValue());
                command.setSourceLocNo(param.getSourceLocNo());
                command.setDistLocNo(param.getDistLocNo());
                command.setTaskNo((short) 9999);

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return R.error();
    }

}