package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.MapNodeType;
import com.zy.core.model.PythonResult;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.*;

/**
 * 四向库核心
 * A*算法实现类
 */
public class NavigateSolution {

    // -1 -> 墙壁， 0 -> 货位， 1 -> 起点  2 -> 终点  3-> 母轨  4->输送站点  5->充电桩 6->小车可走输送站点  66->小车  67->提升机

    int[][] map = {{}};

    public NavigateSolution(Integer mapType, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        //载入地图指定层高地图
        NavigateMapData mapData = SpringUtils.getBean(NavigateMapData.class);
        int[][] data = mapData.getDataFromRedis(lev, mapType, whitePoints, shuttlePoints);
        if (data == null) {
            throw new CoolException("地图未载入！");
        }
        this.map = data;
    }

    public NavigateSolution(int[][] data) {
        this.map = data;
    }

    // Open表用优先队列
    public PriorityQueue<NavigateNode> Open = new PriorityQueue<NavigateNode>();
    //Close表用普通的数组
    public ArrayList<NavigateNode> Close = new ArrayList<NavigateNode>();
    //用来存放已经出现过的结点。
    Map<String, Integer> bestGMap = new HashMap<>();

    public String astarSearchPython(NavigateNode start, NavigateNode end, String pythonScriptPath) {
        String maps = JSON.toJSONString(map);
        String startStr = start.getX() + "-" + start.getY();
        String targetStr = end.getX() + "-" + end.getY();

        //默认地图母轨方向x
        String mapDirection = "x";
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService != null) {
            Config config = configService.selectOne(new EntityWrapper<Config>()
                    .eq("code", "direction_map")
                    .eq("status", 1));
            if (config != null) {
                mapDirection = config.getValue();
            }
        }

        ProcessBuilder processBuilder = new ProcessBuilder("python", pythonScriptPath, maps, startStr, targetStr, mapDirection);
        processBuilder.redirectErrorStream(true);

        try {
            Process process = processBuilder.start();

            // 读取Python脚本的输出
            BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
            String line;
            StringBuilder builder = new StringBuilder();
            while ((line = reader.readLine()) != null) {
                builder.append(line);
            }

            // 等待Python脚本执行完成
            int exitCode = process.waitFor();
            if (exitCode != 0) {
                System.out.println("Python script exited with error code: " + exitCode);
                return null;
            }
            reader.close();

            if (builder.length() <= 0) {
                return null;
            }

            PythonResult result = JSON.parseObject(builder.toString(), PythonResult.class);
            if (result.getCalcResult() != 200) {
                return null;
            }

            String path = result.getPath();
            return path;
        } catch (IOException | InterruptedException e) {
            e.printStackTrace();
        }
        return null;
    }

    public NavigateNode astarSearchJava(NavigateNode start, NavigateNode end) {
        //把第一个开始的结点加入到Open表中
        this.Open.add(start);
        //主循环
        while (Open.size() > 0) {
            //取优先队列顶部元素并且把这个元素从Open表中删除
            NavigateNode current_node = Open.poll();

            if (current_node.getX() == end.getX() && current_node.getY() == end.getY()) {//找到目标结点就返回
                return current_node;
            }

            //将这个结点加入到Close表中
            Close.add(current_node);
            //对当前结点进行扩展，得到一个四周结点的数组
            ArrayList<NavigateNode> neighbour_node = extend_current_node(current_node);
            //对这个结点遍历，看是否有目标结点出现
            for (NavigateNode node : neighbour_node) {
                // G + H + E (对启发函数增加去拐点方案calcNodeExtraCost)
                int gCost = calcNodeExtraCost(current_node, node, end);

                //进行计算对G, F, H 等值
                node.setG(1 + gCost);
                node.init_node(current_node, end);
                node.setH(calcNodeCost(node, end));
                node.setF(node.getG() + node.getH());

                String key = node.getX() + "_" + node.getY();
                Integer recordedG = bestGMap.get(key);
                if (recordedG == null || node.getG() <= recordedG) {
                    bestGMap.put(key, node.getG());

                    Open.add(node);
                }
            }
        }
        //如果遍历完所有出现的结点都没有找到最终的结点，返回null
        return null;
    }


    public ArrayList<NavigateNode> extend_current_node(NavigateNode current_node) {
        //默认地图母轨方向x
        String mapDirection = "x";
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService != null) {
            Config config = configService.selectOne(new EntityWrapper<Config>()
                    .eq("code", "direction_map")
                    .eq("status", 1));
            if (config != null) {
                mapDirection = config.getValue();
            }
        }

        //获取当前结点的x, y
        int x = current_node.getX();
        int y = current_node.getY();
        //如果当前结点的邻结点合法，就加入到neighbour_node
        ArrayList<NavigateNode> neighbour_node = new ArrayList<NavigateNode>();
//        if (map[x][y] == 0 || map[x][y] == 3) {
//            //只有子轨和母轨才能进行左右移动
//            if (is_valid(x, y + 1))
//            {
//                Node node = new Node(x, y + 1);
//                neighbour_node.add(node);
//            }
//            if (is_valid(x, y - 1))
//            {
//                Node node = new Node(x, y - 1);
//                neighbour_node.add(node);
//            }
//        }
//
//        if (map[x][y] == 3) {
//            //只有母轨才能进行上下移动
//            if (is_valid(x + 1, y))
//            {
//                Node node = new Node(x + 1, y);
//                neighbour_node.add(node);
//            }
//            if (is_valid(x - 1, y))
//            {
//                Node node = new Node(x -1, y);
//                neighbour_node.add(node);
//            }
//        }

        if (mapDirection.equals("x")) {//母轨x方向
            if (map[x][y] == MapNodeType.MAIN_PATH.id) {
                //母轨才能进行上下移动
                if (is_valid(x + 1, y))
                {
                    NavigateNode node = new NavigateNode(x + 1, y);
                    node.setNodeValue(map[x + 1][y]);
                    neighbour_node.add(node);
                }
                if (is_valid(x - 1, y))
                {
                    NavigateNode node = new NavigateNode(x - 1, y);
                    node.setNodeValue(map[x - 1][y]);
                    neighbour_node.add(node);
                }
            }

            if (map[x][y] == MapNodeType.NORMAL_PATH.id || map[x][y] == MapNodeType.MAIN_PATH.id || map[x][y] == MapNodeType.CONVEYOR_CAR_GO.id || map[x][y] == MapNodeType.CHARGE.id || map[x][y] == MapNodeType.LIFT.id) {
                //子轨和母轨、小车可走输送线、充电桩、提升机才能进行左右移动
                if (is_valid(x, y + 1))
                {
                    NavigateNode node = new NavigateNode(x, y + 1);
                    node.setNodeValue(map[x][y + 1]);
                    neighbour_node.add(node);
                }
                if (is_valid(x, y - 1))
                {
                    NavigateNode node = new NavigateNode(x, y - 1);
                    node.setNodeValue(map[x][y - 1]);
                    neighbour_node.add(node);
                }
            }
        }else if (mapDirection.equals("y")) {//母轨y方向
            if (map[x][y] == MapNodeType.MAIN_PATH.id) {
                //母轨才能进行左右移动
                if (is_valid(x, y + 1))
                {
                    NavigateNode node = new NavigateNode(x, y + 1);
                    node.setNodeValue(map[x][y + 1]);
                    neighbour_node.add(node);
                }
                if (is_valid(x, y - 1))
                {
                    NavigateNode node = new NavigateNode(x, y - 1);
                    node.setNodeValue(map[x][y - 1]);
                    neighbour_node.add(node);
                }
            }

            if (map[x][y] == MapNodeType.NORMAL_PATH.id || map[x][y] == MapNodeType.MAIN_PATH.id || map[x][y] == MapNodeType.CONVEYOR_CAR_GO.id || map[x][y] == MapNodeType.CHARGE.id || map[x][y] == MapNodeType.LIFT.id) {
                //子轨和母轨、小车可走输送线、充电桩、提升机才能进行上下移动
                if (is_valid(x + 1, y))
                {
                    NavigateNode node = new NavigateNode(x + 1, y);
                    node.setNodeValue(map[x + 1][y]);
                    neighbour_node.add(node);
                }
                if (is_valid(x - 1, y))
                {
                    NavigateNode node = new NavigateNode(x - 1, y);
                    node.setNodeValue(map[x - 1][y]);
                    neighbour_node.add(node);
                }
            }
        }

        return neighbour_node;
    }

    public boolean is_valid(int x, int y) {
        if (x < 0 || x >= this.map.length
                || y < 0 || y >= this.map[0].length) {
            return false;
        }
        // 如果结点的位置小于0，则不合法
        if (map[x][y] < 0) {
            return false;
        }

        if (map[x][y] == MapNodeType.CAR.id) {//节点是小车
            return false;
        }

        //以上情况都没有则合法
        return true;
    }

    //------------------A*启发函数------------------//

    //计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
    private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }

    //去除拐点算法，给直线增加优先级
    private int calcNodeExtraCost(NavigateNode currNode, NavigateNode nextNode, NavigateNode endNode) {
        // 第一个点或直线点
        if (currNode.getFather() == null || nextNode.getX() == currNode.getFather().getX()
                || nextNode.getY() == currNode.getFather().getY()) {
            return 0;
        }

        // 拐向终点的点
        if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
            return 1;
        }

        // 普通拐点
        /*
        拐点判断逻辑
        拿到父节点和下一节点
        通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
         */
        return 1;
    }

    //------------------A*启发函数-end------------------//

}