package com.zy.core.network.fake;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Random;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
import java.util.Map;
import java.util.function.Supplier;

public class ZyStationFakeSegConnect implements ZyStationConnectApi {

    private static int LOCK_STATION = 0;
    private HashMap<Integer, List<ZyStationStatusEntity>> deviceStatusMap = new HashMap<>();
    private HashMap<Integer, DeviceConfig> deviceConfigMap = new HashMap<>();
    private RedisUtil redisUtil;
    private final Map<Integer, BlockingQueue<StationCommand>> taskQueues = new ConcurrentHashMap<>();
    private final Map<Integer, Long> taskLastUpdateTime = new ConcurrentHashMap<>();
    private final Map<Integer, Boolean> taskRunning = new ConcurrentHashMap<>();
    private final ExecutorService executor = Executors.newCachedThreadPool();

    public void addFakeConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.redisUtil = redisUtil;

        if (deviceConfigMap.containsKey(deviceConfig.getDeviceNo())) {
            return;
        }
        deviceConfigMap.put(deviceConfig.getDeviceNo(), deviceConfig);
        deviceStatusMap.put(deviceConfig.getDeviceNo(), new CopyOnWriteArrayList<>());
    }

    @Override
    public boolean connect() {
        return true;
    }

    @Override
    public boolean disconnect() {
        executor.shutdownNow();
        return true;
    }

    @Override
    public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
        List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
        if (statusList == null) {
            return new ArrayList<>();
        }
        DeviceConfig deviceConfig = deviceConfigMap.get(deviceNo);
        if (statusList.isEmpty()) {
            List<ZyStationStatusEntity> init = JSON.parseArray(deviceConfig.getFakeInitStatus(), ZyStationStatusEntity.class);
            if (init != null) {
                statusList.addAll(init);
                for (ZyStationStatusEntity status : statusList) {
                    status.setAutoing(true);
                    status.setLoading(false);
                    status.setInEnable(true);
                    status.setOutEnable(true);
                    status.setEmptyMk(false);
                    status.setFullPlt(false);
                    status.setRunBlock(false);
                    status.setPalletHeight(0);
                    status.setError(0);
                    status.setBarcode("");
                }
            }
        }

        return statusList;
    }

    @Override
    public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
        Integer taskNo = command.getTaskNo();
        if (taskNo == null) {
            return new CommandResponse(false, "任务号为空");
        }

        taskQueues.computeIfAbsent(taskNo, k -> new LinkedBlockingQueue<>()).offer(command);
        taskLastUpdateTime.put(taskNo, System.currentTimeMillis());

        if (taskRunning.putIfAbsent(taskNo, true) == null) {
            executor.submit(() -> runTaskLoop(deviceNo, taskNo));
        }

        return new CommandResponse(true, "命令已受理（异步执行）");
    }

    private void runTaskLoop(Integer deviceNo, Integer taskNo) {
        try {
            // 用于存储当前任务待执行的完整路径队列
            BlockingQueue<Integer> pathQueue = new LinkedBlockingQueue<>();
            // 当前是否正在执行移动
            boolean isMoving = false;
            // 当前移动到的路径索引
            int currentPathIndex = 0;
            // 完整路径记录
            List<Integer> fullPath = new ArrayList<>();
            
            StationCommand initialCommand = null;
            Integer finalTargetStationId = null;
            boolean generateBarcode = false;

            while (true) {
                BlockingQueue<StationCommand> commandQueue = taskQueues.get(taskNo);
                if (commandQueue == null) {
                    break;
                }

                // 尝试获取新命令，如果没有新命令则继续执行现有路径
                StationCommand command = commandQueue.poll(100, TimeUnit.MILLISECONDS);
                if (command != null) {
                    taskLastUpdateTime.put(taskNo, System.currentTimeMillis());
                    
                    if (initialCommand == null) {
                        initialCommand = command;
                        finalTargetStationId = command.getTargetStaNo();
                        if (checkTaskNoInArea(taskNo)) {
                            generateBarcode = true;
                        }
                    }

                    List<Integer> newPath = command.getNavigatePath();
                    if (newPath != null && !newPath.isEmpty()) {
                        // 如果是第一段路径
                        if (fullPath.isEmpty()) {
                            fullPath.addAll(newPath);
                            for (Integer stationId : newPath) {
                                pathQueue.offer(stationId);
                            }
                        } else {
                            // 追加路径，需要去重衔接点
                            Integer lastStationId = fullPath.get(fullPath.size() - 1);
                            int startIndex = 0;
                            if (!newPath.isEmpty() && newPath.get(0).equals(lastStationId)) {
                                startIndex = 1;
                            }
                            for (int i = startIndex; i < newPath.size(); i++) {
                                Integer stationId = newPath.get(i);
                                fullPath.add(stationId);
                                pathQueue.offer(stationId);
                            }
                        }
                    }
                    
                    // 处理非移动命令
                    if (command.getCommandType() != StationCommandType.MOVE) {
                        handleCommand(deviceNo, command);
                    }
                }

                // 执行移动逻辑
                if (!pathQueue.isEmpty()) {
                    // 如果刚开始，先初始化当前位置
                    if (currentPathIndex == 0 && !fullPath.isEmpty()) {
                         Integer startStationId = fullPath.get(0);
                         Integer deviceId = getDeviceNoByStationId(startStationId);
                         if (deviceId != null) {
                             initStationMove(taskNo, startStationId, deviceId, taskNo, finalTargetStationId, true, null);
                         }
                    }

                    // 取出下一个目标点
                    Integer nextStationId = pathQueue.peek(); // 这里的逻辑需要改为逐个行走
                    // 实际行走逻辑应该是在这里消费 pathQueue
                    // 为了简化，我们将 pathQueue 转为 stationMoveByPathIds 的逻辑，但这里需要改造成步进式
                    
                    // 重新设计：runTaskLoop 负责不断消费 pathQueue 并执行单步移动
                    if (nextStationId != null) {
                        Integer currentStationId = fullPath.get(currentPathIndex);
                        if (currentStationId.equals(nextStationId)) {
                            pathQueue.poll(); // 移除已到达的点
                            continue;
                        }
                        
                        // 执行从 currentStationId 到 nextStationId 的移动
                        Integer currentDeviceNo = getDeviceNoByStationId(currentStationId);
                        Integer nextDeviceNo = getDeviceNoByStationId(nextStationId);
                        
                        if (currentDeviceNo != null && nextDeviceNo != null) {
                            boolean moveSuccess = stationMoveToNext(taskNo, currentStationId, currentDeviceNo, nextStationId, nextDeviceNo, taskNo, finalTargetStationId);
                            if (moveSuccess) {
                                currentPathIndex++;
                                pathQueue.poll();
                                sleep(1000); // 模拟耗时
                            } else {
                                sleep(1000); // 失败重试等待
                            }
                        } else {
                            pathQueue.poll(); // 无法执行，跳过
                        }
                    }
                } else {
                    // 队列为空，检查是否超时
                    Long lastTime = taskLastUpdateTime.get(taskNo);
                    if (lastTime != null && System.currentTimeMillis() - lastTime > 30000) {
                        // 完成任务后清理
                        if (fullPath.size() > 0 && generateBarcode) {
                             Integer lastStation = fullPath.get(fullPath.size()-1);
                             Integer lastDevice = getDeviceNoByStationId(lastStation);
                             if (lastDevice != null) {
                                 generateStationBarcode(taskNo, finalTargetStationId, lastDevice);
                             }
                        }
                        break;
                    }
                }
            }
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        } finally {
            taskQueues.remove(taskNo);
            taskLastUpdateTime.remove(taskNo);
            taskRunning.remove(taskNo);
        }
    }

    @Override
    public CommandResponse sendOriginCommand(String address, short[] data) {
        return new CommandResponse(true, "原始命令已受理（异步执行）");
    }

    @Override
    public byte[] readOriginCommand(String address, int length) {
        return new byte[0];
    }

    private void handleCommand(Integer deviceNo, StationCommand command) {
        News.info("[WCS Debug] 站点仿真模拟(V3)已启动，命令数据={}", JSON.toJSONString(command));
        Integer taskNo = command.getTaskNo();
        Integer stationId = command.getStationId();
        Integer targetStationId = command.getTargetStaNo();
        boolean generateBarcode = false;

        if (command.getCommandType() == StationCommandType.RESET) {
            resetStation(deviceNo, stationId);
            return;
        }

        if (checkTaskNoInArea(taskNo)) {
            generateBarcode = true;
        }

        if (command.getCommandType() == StationCommandType.WRITE_INFO) {
            if (taskNo == 9998 && targetStationId == 0) {
                //生成出库站点仿真数据
                generateFakeOutStationData(deviceNo, stationId);
                return;
            }
        }

        if (taskNo > 0 && taskNo != 9999 && taskNo != 9998 && stationId == targetStationId) {
            generateStationData(deviceNo, taskNo, stationId, targetStationId);
        }

        List<Integer> navigatePath = command.getNavigatePath();
        if (navigatePath != null && !navigatePath.isEmpty()) {
            segmentedPathCommand(command, generateBarcode);
            return;
        }
    }

    private void generateFakeOutStationData(Integer deviceNo, Integer stationId) {
        List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        synchronized (status) {
            status.setLoading(true);
        }
    }

    private void generateStationData(Integer deviceNo, Integer taskNo, Integer stationId, Integer targetStationId) {
        List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        synchronized (status) {
            status.setTaskNo(taskNo);
            status.setTargetStaNo(targetStationId);
        }
    }

    private void resetStation(Integer deviceNo, Integer stationId) {
        List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        synchronized (status) {
            status.setTaskNo(0);
            status.setLoading(false);
            status.setBarcode("");
        }
    }

    private void segmentedPathCommand(StationCommand command, boolean generateBarcode) {
        Integer taskNo = command.getTaskNo();
        Integer finalTargetStationId = command.getTargetStaNo();
        List<Integer> path = command.getNavigatePath();
        if (path == null || path.isEmpty()) {
            return;
        }
        
        Integer currentStationId = findCurrentStationIdByTask(taskNo);
        int startIdx = 0;
        if (currentStationId != null) {
            int idx = path.indexOf(currentStationId);
            if (idx >= 0) {
                startIdx = idx;
            }
        }
        
        Integer segmentTargetStationId = path.get(path.size() - 1);
        int endIdx = path.size() - 1;
        
        boolean isFinalSegment = segmentTargetStationId.equals(finalTargetStationId);
        boolean appendMode = currentStationId != null && path.indexOf(currentStationId) >= 0;
        boolean generateBarcodeFinal = generateBarcode && isFinalSegment;
        
        stationMoveByPathIds(path, taskNo, finalTargetStationId, false, generateBarcodeFinal, startIdx, endIdx, appendMode);
    }

    private Integer getDeviceNoByStationId(Integer stationId) {
        for (Integer devNo : deviceStatusMap.keySet()) {
            List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
            if (list == null) {
                continue;
            }
            for (ZyStationStatusEntity e : list) {
                if (e.getStationId() != null && e.getStationId().equals(stationId)) {
                    return devNo;
                }
            }
        }
        return null;
    }

    private Integer findCurrentStationIdByTask(Integer taskNo) {
        for (Integer devNo : deviceStatusMap.keySet()) {
            List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
            if (list == null) {
                continue;
            }
            for (ZyStationStatusEntity e : list) {
                if (e.getTaskNo() != null && e.getTaskNo().equals(taskNo) && e.isLoading()) {
                    return e.getStationId();
                }
            }
        }
        return null;
    }

    private boolean stationMoveByPathIds(List<Integer> stationPath, Integer taskNo, Integer targetStationId, boolean clearData, boolean generateBarcode, int startIdx, int endIdx, boolean appendMode) {
        Integer lastStationId = null;
        Integer targetStationDeviceNo = getDeviceNoByStationId(targetStationId);
        long executeTime = System.currentTimeMillis();
        int i = Math.max(0, startIdx);
        while (i < stationPath.size() && i <= endIdx) {
            if (Thread.currentThread().isInterrupted()) {
                return false;
            }
            Integer currentStationId = stationPath.get(i);
            Integer currentStationDeviceNo = getDeviceNoByStationId(currentStationId);
            if (currentStationDeviceNo == null) {
                return false;
            }

            Integer nextStationId = null;
            Integer nextStationDeviceNo = null;
            try {
                nextStationId = stationPath.get(i + 1);
                nextStationDeviceNo = getDeviceNoByStationId(nextStationId);
            } catch (Exception ignore) {}

            if (!checkTaskNoInArea(taskNo)) {
                boolean fakeAllowCheckBlock = true;
                Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
                if (systemConfigMapObj != null) {
                    HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
                    if (!systemConfigMap.get("fakeAllowCheckBlock").equals("Y")) {
                        fakeAllowCheckBlock = false;
                    }
                }

                if (fakeAllowCheckBlock && System.currentTimeMillis() - executeTime > 1000 * 10) {
                    boolean result = runBlockStation(taskNo, currentStationId, currentStationDeviceNo, taskNo, currentStationId);
                    if(!result) {
                        continue;
                    }
                    return false;
                }
            }

            if (i == startIdx && !appendMode) {
                boolean result = initStationMove(taskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, true, null);
                if (!result) {
                    continue;
                }
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return false;
                }
            }

            if (nextStationId != null && nextStationDeviceNo != null) {
                boolean result = stationMoveToNext(taskNo, currentStationId, currentStationDeviceNo, nextStationId, nextStationDeviceNo, taskNo, targetStationId);
                if (!result) {
                    continue;
                }
                lastStationId = currentStationId;
            }

            if (currentStationId.equals(targetStationId)) {
                break;
            }

            i++;
            executeTime = System.currentTimeMillis();
            sleep(1000);
            if (Thread.currentThread().isInterrupted()) {
                return false;
            }
        }

        if (generateBarcode) {
            if (lastStationId != null && targetStationDeviceNo != null) {
                while (true) {
                    if (Thread.currentThread().isInterrupted()) {
                        break;
                    }
                    boolean result = generateStationBarcode(taskNo, targetStationId, targetStationDeviceNo);
                    sleep(1000);
                    if (!result) {
                        continue;
                    }
                    break;
                }
            }
        }

        if (clearData) {
            sleep(10000);
            if (Thread.currentThread().isInterrupted()) {
                return true;
            }
            if (lastStationId != null && targetStationDeviceNo != null) {
                while (true) {
                    if (Thread.currentThread().isInterrupted()) {
                        break;
                    }
                    boolean result = clearStation(targetStationDeviceNo, taskNo, targetStationId);
                    sleep(1000);
                    if (!result) {
                        continue;
                    }
                    break;
                }
            }
        }

        return true;
    }

    private void sleep(long ms) {
        try {
            Thread.sleep(ms);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }
    }

    public synchronized boolean setLockStation(Integer uuid) {
        if (LOCK_STATION == 0) {
            LOCK_STATION = uuid;
            return true;
        }else {
            if(LOCK_STATION == uuid) {
                return true;
            }
        }
        return false;
    }

    public synchronized boolean releaseLockStation(Integer uuid) {
        if (LOCK_STATION != uuid) {
            return false;
        }

        LOCK_STATION = 0;
        return true;
    }

    public synchronized boolean updateStationData(Integer lockTaskNo, Integer stationId, Integer deviceNo, Integer taskNo, Integer targetStaNo, Boolean isLoading, String barcode, Boolean runBlock) {
        if (LOCK_STATION != lockTaskNo) {
            return false;
        }

        List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
        if (statusList == null) {
            return false;
        }

        ZyStationStatusEntity currentStatus = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);

        if (currentStatus == null) {
            return false;
        }

        if (taskNo != null) {
            currentStatus.setTaskNo(taskNo);
        }

        if (targetStaNo != null) {
            currentStatus.setTargetStaNo(targetStaNo);
        }

        if (isLoading != null) {
            currentStatus.setLoading(isLoading);
        }

        if (barcode != null) {
            currentStatus.setBarcode(barcode);
        }

        if (runBlock != null) {
            currentStatus.setRunBlock(runBlock);
        }
        return true;
    }

    public synchronized boolean initStationMove(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer targetStationId, Boolean isLoading, String barcode) {
        boolean executeResult = lockExecute(lockTaskNo, () -> {
            List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
            if (statusList == null) {
                return false;
            }

            ZyStationStatusEntity currentStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);

            if (currentStatus == null) {
                return false;
            }

            if (currentStatus.getTaskNo() > 0) {
                if (!currentStatus.getTaskNo().equals(taskNo) && currentStatus.isLoading()) {
                    return false;
                }
            }

            boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, isLoading, barcode, false);
            if (!result) {
                return false;
            }
            return true;
        });

        return executeResult;
    }

    public synchronized boolean stationMoveToNext(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer nextStationId, Integer nextStationDeviceNo, Integer taskNo, Integer targetStaNo) {
        boolean executeResult = lockExecute(lockTaskNo, () -> {
            List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
            if (statusList == null) {
                return false;
            }

            List<ZyStationStatusEntity> nextStatusList = deviceStatusMap.get(nextStationDeviceNo);
            if (statusList == null) {
                return false;
            }

            ZyStationStatusEntity currentStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);

            ZyStationStatusEntity nextStatus = nextStatusList.stream()
                    .filter(item -> item.getStationId().equals(nextStationId)).findFirst().orElse(null);

            if (currentStatus == null || nextStatus == null) {
                return false;
            }

            if (nextStatus.getTaskNo() > 0 || nextStatus.isLoading()) {
                return false;
            }

            boolean result = updateStationData(lockTaskNo, nextStationId, nextStationDeviceNo, taskNo, targetStaNo, true, null, false);
            if (!result) {
                return false;
            }

            boolean result2 = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, 0, 0, false, "", false);
            if (!result2) {
                return false;
            }

            return true;
        });
        return executeResult;
    }

    public synchronized boolean generateStationBarcode(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo) {
        boolean executeResult = lockExecute(lockTaskNo, () -> {
            List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
            if (statusList == null) {
                return false;
            }

            ZyStationStatusEntity currentStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);

            if (currentStatus == null) {
                return false;
            }

            Random random = new Random();

            String barcodeTime = String.valueOf(System.currentTimeMillis());
            String barcode = String.valueOf(random.nextInt(10)) + String.valueOf(random.nextInt(10)) + barcodeTime.substring(7);

            boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, null, null, null, barcode, null);
            if (!result) {
                return false;
            }
            return true;
        });

        return executeResult;
    }

    public synchronized boolean clearStation(Integer deviceNo, Integer lockTaskNo, Integer currentStationId) {
        boolean executeResult = lockExecute(lockTaskNo, () -> {
            List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
            if (statusList == null) {
                return false;
            }

            ZyStationStatusEntity currentStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);

            if (currentStatus == null) {
                return false;
            }

            boolean result = updateStationData(deviceNo, lockTaskNo, currentStationId, 0, 0, false, "", false);
            if (!result) {
                return false;
            }
            return true;
        });

        return executeResult;
    }

    public synchronized boolean runBlockStation(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer blockStationId) {
        boolean executeResult = lockExecute(lockTaskNo, () -> {
            List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
            if (statusList == null) {
                return false;
            }

            ZyStationStatusEntity currentStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);

            if (currentStatus == null) {
                return false;
            }

            boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, blockStationId, true, "", true);
            if (!result) {
                return false;
            }
            return true;
        });

        return executeResult;
    }

    public boolean lockExecute(Integer taskNo, Supplier<Boolean> function) {
        if (!setLockStation(taskNo)) {
            return false;
        }

        boolean result = function.get();
        releaseLockStation(taskNo);
        return result;
    }

    private boolean checkTaskNoInArea(Integer taskNo) {
        Object fakeTaskNoAreaObj = redisUtil.get(RedisKeyType.FAKE_TASK_NO_AREA.key);
        if (fakeTaskNoAreaObj == null) {
            return false;
        }

        JSONObject data = JSON.parseObject(String.valueOf(fakeTaskNoAreaObj));
        Integer start = data.getInteger("start");
        Integer end = data.getInteger("end");

        if(taskNo >= start && taskNo <= end) {
            return true;
        }

        return false;
    }
}