package com.zy.core.dispatcher;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.entity.WrkMast;
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.ForkLiftUtils;
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.ForkLiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
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;

    /**
     * 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 dispatchShuttle(Integer wrkNo, String locNo) {
        //检测目标库位组是否存在小车，如存在小车则直接指定该车
        WrkMast wrkMast = wrkMastService.selectByWorkNo(wrkNo);
        if (wrkMast != null) {
            String targetLocNo = wrkMast.getIoType() < 100 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
            List<String> groupLoc = Utils.getGroupLoc(targetLocNo);
            Integer groupShuttleNo = Utils.checkGroupLocHasShuttle(groupLoc);
            if (groupShuttleNo != null) {
                //存在小车，直接调度该车
                return shuttleMoveGenerate(wrkNo, locNo, groupShuttleNo);
            }
        }

        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
            }

            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();
                //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, locNo, shuttleNo);
                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);
                    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, locNo, shuttleNo);
                    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) {
        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) {//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;
        }

        //判断是否有其他任务正在使用穿梭车
        WrkMast wrkMast2 = wrkMastService.selectShuttleWorking(shuttleNo);
        if (wrkMast2 != null) {//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
            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;
        }

        Integer sourceStaNo = null;//小车换层源站点
        Integer staNo = null;//小车换层目标站点
        if (Utils.getLev(locNo) != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
            //目标库位和小车库位处于不同一楼层，需要通过提升机调度
            //获取穿梭车最近且空闲的提升机输送站点
            ForkLiftStaProtocol liftSta = this.getRecentLiftSta(shuttleNo, Utils.getLev(locNo));
            if (liftSta == null) {
                News.info("{}号小车，{}目标库位，没有可用空闲输送站点", shuttleNo, locNo);
                return false;//没有可用且空闲的输送站点
            }
            sourceStaNo = liftSta.getStaNo();//源站点
            //提升机号*100+目标楼层=目标站点
            staNo = liftSta.getLiftNo() * 100 + Utils.getLev(locNo);//目标站
        }

        // 获取工作号
        int workNo = commonService.getWorkNo(0);
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        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(shuttleProtocol.getCurrentLocNo()); // 源库位 => 小车当前库位号
        wrkMast.setLocNo(locNo); // 目标库位
        wrkMast.setSourceStaNo(sourceStaNo);//源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        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
        WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
        if (wrkMast1 != null) {
            wrkMast1.setShuttleNo(shuttleNo);
            wrkMastService.updateById(wrkMast1);
        }

        return true;
    }

    /**
     * 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;
            }

            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());
    }

    /**
     * 获取穿梭车最近且空闲的提升机输送站点
     */
    public ForkLiftStaProtocol getRecentLiftSta(Integer shuttleNo, Integer targetLev) {
        //获取四向穿梭车线程
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return null;
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return null;
        }

        //获取小车同一楼层的站点
        ArrayList<ForkLiftStaProtocol> list = new ArrayList<>();
        int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车楼层
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }
            if (!forkLiftThread.isIdle()) {
                continue;
            }

            ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), lev);
            if (forkLiftStaProtocol == null) {
                continue;
            }

            //判断目标楼层站点是否无托盘
            ForkLiftStaProtocol targetLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), targetLev);
            if (targetLiftStaProtocol == null) {
                continue;
            }

            if (targetLiftStaProtocol.getHasTray()) {
                continue;//有托盘跳过
            }

            list.add(forkLiftStaProtocol);
        }

        if (list.isEmpty()) {
            return null;
        }

        String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车位置
        Integer recentAllDistance = 9999999;
        ForkLiftStaProtocol recentSta = null;//最近站点
        //搜索距离小车最近的站点
        for (ForkLiftStaProtocol forkLiftStaProtocol : list) {
            Integer staNo = forkLiftStaProtocol.getStaNo();//站点号
            String locNo = forkLiftStaProtocol.getLocNo();//站点库位号

            //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);//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) {
                //如果当前楼层的车路径更小，则更新最近站点
                recentSta = forkLiftStaProtocol;
                recentAllDistance = currentAllDistance;
            }
        }

        return recentSta;
    }

    /**
     * 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;
    }

}