package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * RGV接口
 * Created by vincent on 2020-06-01
 */
@Slf4j
@RestController
@RequestMapping("/rgv")
public class RgvController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/rgv/state")
    @ManagerAuth(memo = "RGV信息表")
    public R rgvStateTable(){
        List<RgvStateTableVo> list = new ArrayList<>();
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        Map<Integer, StaProtocol> station = devpThread.getStation();
        int[] basRgvList =new int[]{623,624,625,626};

        for (int rgvNo : basRgvList) {
            RgvStateTableVo vo = new RgvStateTableVo();
            vo.setRgvNo(rgvNo);    // 站点编号
            list.add(vo);
            StaProtocol staProtocol = station.get(rgvNo);
            if (null == staProtocol) { continue; }
            vo.setWorkNo1(staProtocol.getWorkNo().shortValue());   //  工作号
            vo.setStatusType(staProtocol.isAutoing()?"Y":"N");   //  自动
            vo.setStatus(staProtocol.isLoading()?"Y":"N");     //  有物
            vo.setEndRow(staProtocol.getEndRow());   //  小车目标位
            vo.setNowRow(staProtocol.getNowRow());   //  小车当前位   //左：1  中： 2  右：3   （面朝入料口）
            vo.setStatus11(staProtocol.isRGV1()?"Y":"N");   //  工作号
            vo.setStatus12(staProtocol.isRGV2()?"Y":"N");   //  工作号
            vo.setStatus13(staProtocol.isRGV3()?"Y":"N");   //  工作号
            vo.setStatus14(staProtocol.isRGV4()?"Y":"N");   //  工作号
            vo.setStatus15(staProtocol.isRGV5()?"Y":"N");   //  工作号
            vo.setStatus16(staProtocol.isRGV6()?"Y":"N");   //  工作号
//            vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "低" : "高");     //高低库位
//            vo.setLocType1(devp.getDevNo()==102 ? "高" : "低");
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/rgv/msg")
    @ManagerAuth(memo = "RGV数据表")
    public R rgvMsgTable(){
        List<RgvMsgTableVo> list = new ArrayList<>();
        List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
        for (BasRgv basRgv : rgvs) {
            // 表格行
            RgvMsgTableVo vo = new RgvMsgTableVo();
            vo.setRgvNo(basRgv.getRgvNo());   //  RGV号
            list.add(vo);
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            vo.setWorkNo(rgvProtocol.getTaskNo1());  //  任务号
            if (rgvProtocol.getTaskNo1()>0) {
                WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
                if (wrkMast != null) {
                    vo.setStatus(RgvStatusType.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
                }
            } else {
                vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态
            }
            vo.setXspeed(rgvProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setXdistance(rgvProtocol.getXDistance());  //  走行距离(Km)
            vo.setXduration(rgvProtocol.getXDuration());    //  走行时长(H)
        }
        return R.ok().add(list);
    }

    @PostMapping("/output/site")
    @ManagerAuth(memo = "RGV报文日志输出")
    public R rgvOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.RGV.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

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

    @ManagerAuth(memo = "取放货")
    @PostMapping("/operator/put")
    public R rgvFetchPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "取货")
    @PostMapping("/operator/take")
    public R rgvFetch(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH); // 任务模式: 取货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "放货")
    @PostMapping("/operator/stockMove")
    public R rgvPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.PUT); // 任务模式: 放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R rgvTaskComplete(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 1);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 1);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo2((short) 0); // 源站
        command.setDestinationStaNo2((short) 0);  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R rgvClearCommand(RgvOperatorParam param){
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV号");
        }
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo2((short) 0); // 源站
        command.setDestinationStaNo2((short) 0);  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(RgvOperatorParam param) throws Exception {
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        // 获取RGV缓存
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (param.getRgvNo().equals(rgv.getId())) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvCommand Command = new RgvCommand();
                Command.setRgvNo(rgv.getId()); // RGV编号
                Command.setTaskMode1(RgvTaskModeType.NONE);
                Command.setAckFinish1((short) 0);  // 任务完成确认位
                Command.setAckFinish2((short) 0);  // 任务完成确认位
                Command.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, Command))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }

            }
        }
        return R.error();
    }

    private boolean rgvControl(RgvCommand command){
        if (command.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (command.getRgvNo().equals(rgv.getId())) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return false;
    }

    @PostMapping("/console/rgv/site/data")
    @ManagerAuth(memo = "小车实时位置")
    public R scaleLatestData(){
        List<Map> result = new ArrayList<>();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            if (rgvThread == null) {
                throw new CoolException("RGV不在线");
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                throw new CoolException("RGV不在线");
            }
            Map<String, Object> rgvMap = new HashMap<>();
            rgvMap.put("title", rgvProtocol.getRgvPosI());
            rgvMap.put("id", rgvProtocol.getRgvNo());
            result.add(rgvMap);
        }
        return R.ok().add(result);
    }

}