package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.core.exception.CoolException;
import com.zy.asrs.controller.requestParam.StationRequestParam;
import com.zy.asrs.domain.vo.StationStatus;
import com.zy.asrs.service.CtuMainService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.SiemensDevpThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.ReentrantLock;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("ctuMainService")
@Transactional
@Data
public class CtuMainServiceImpl implements CtuMainService {

    public static final long COMMAND_TIMEOUT = 5 * 1000;
    private static final long SLEEP_DURATION = 8000L;
    private static final int MAX_WORK_NO = 9999;
    private static final int RANDOM_WORK_NO_MAX = 10000;
    private static final int CTU_STATION_1001 = 1001;
    private static final int CTU_STATION_1007 = 1007;
    private static final int CTU_STATION_1006 = 1006;
    private static final int CTU_STATION_1004 = 1004;

    @Value("${ctu.url}")
    private String ctuUrl;

    @Value("${ctu.station}")
    private String station;

    @Autowired
    private SlaveProperties slaveProperties;

    // 为不同的操作添加细粒度锁
    private final ReentrantLock outLock = new ReentrantLock();
    private final ReentrantLock inLock = new ReentrantLock();
    private final ReentrantLock in2Lock = new ReentrantLock();

    /**
     * 出库的时候，设备上走
     */
    @Override
    public void out(Integer mark) {
        executeWithLock(outLock, () -> {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta outSta : devp.getOutSta()) {
                    processOutboundStation(devp, outSta, mark);
                }
            }
        }, "出库处理");
    }

    /**
     * 入库，从拣料站到入库站（CTU取货站）
     */
    @Override
    public void in(Integer mark) {
        executeWithLock(inLock, () -> processInboundStation(mark, CTU_STATION_1004, (short) CTU_STATION_1006), "入库处理");
    }

    @Override
    public void in2(Integer mark) {
        executeWithLock(in2Lock, () -> {
            // 获取1007站点信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                log.warn("无法获取设备线程，设备ID: 1");
                return;
            }
            
            StaProtocol staProtocol = getStationProtocol(devpThread, CTU_STATION_1007);
            if (staProtocol == null || !isStationReadyForProcessing(staProtocol)) {
                return;
            }

            if (staProtocol.getWorkNo() > 0 && 
                staProtocol.isAutoing() && 
                !staProtocol.isEmptyMk() && 
                staProtocol.isPakMk()) {
                
                if (station(CTU_STATION_1007)) {
                    Integer workNo = staProtocol.getWorkNo();
                    
                    // 清空1007站点
                    clearStationProtocol(staProtocol, devpThread);
                    
                    // 更新1006站点信息
                    updateStation1006(devpThread, workNo);
                }
            }
        }, "入库第二步处理");
    }

    @Override
    @Transactional
    public boolean station(Integer staNo) {
        return checkStationStatus(staNo);
    }

    /**
     * 在锁的保护下执行操作
     * @param lock 锁
     * @param operation 要执行的操作
     * @param operationName 操作名称，用于日志
     */
    private void executeWithLock(ReentrantLock lock, Runnable operation, String operationName) {
        lock.lock();
        try {
            operation.run();
        } catch (Exception e) {
            log.error("{}异常", operationName, e);
            News.error("{}异常: {}", operationName, e.getMessage());
        } finally {
            lock.unlock();
        }
    }

    /**
     * 处理出库站点
     * @param devp 设备
     * @param outSta 出库站点
     * @param mark 标记
     */
    private void processOutboundStation(DevpSlave devp, DevpSlave.Sta outSta, Integer mark) {
        SiemensDevpThread devpThread = getDeviceThread(SlaveType.Devp, devp.getId());
        if (devpThread == null) {
            log.warn("无法获取设备线程，设备ID: {}", devp.getId());
            return;
        }
        
        StaProtocol staProtocol = getStationProtocol(devpThread, outSta.getStaNo());
        if (staProtocol == null || !isStationReadyForProcessing(staProtocol)) {
            return;
        }
        
        if (isOutboundConditionMet(staProtocol) && station(CTU_STATION_1001)) {
            executeOutboundProcess(staProtocol, devp, mark, devpThread);
        } else {
            logStationConditionError(mark, staProtocol);
        }
    }

    /**
     * 检查出库条件是否满足
     * @param staProtocol 站点协议
     * @return 条件是否满足
     */
    private boolean isOutboundConditionMet(StaProtocol staProtocol) {
        return staProtocol.isAutoing() && 
               !staProtocol.isEmptyMk() && 
               (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == MAX_WORK_NO) && 
               staProtocol.isPakMk();
    }

    /**
     * 执行出库处理
     * @param staProtocol 站点协议
     * @param devp 设备
     * @param mark 标记
     * @param devpThread 设备线程
     */
    private void executeOutboundProcess(StaProtocol staProtocol, DevpSlave devp, Integer mark, SiemensDevpThread devpThread) {
        News.warnNoLog("" + mark + " - 0" + " - 开始执行");
        // 更新站点信息 且 下发plc命令
        staProtocol.setWorkNo((int) (Math.random() * RANDOM_WORK_NO_MAX));
        staProtocol.setStaNo((short) CTU_STATION_1004);
        devpThread.setPakMk(staProtocol.getSiteId(), false);
        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
        log.info("输送线下发3：{},{}", staProtocol.getWorkNo(), CTU_STATION_1004);
        if (result) {
            sleepWithInterruptHandling(SLEEP_DURATION, "出库处理");
        } else {
            News.error("" + mark + " - 2" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
        }
    }

    /**
     * 记录站点条件错误日志
     * @param mark 标记
     * @param staProtocol 站点协议
     */
    private void logStationConditionError(Integer mark, StaProtocol staProtocol) {
        String errorMsg = String.format(
            "%s - 6 - 站点信息不符合入库条件！！！ 自动信号：%s、可入信号：%s、空板信号：%s、工作号：%s、锁定标记%s、入库印记：%s",
            mark, 
            staProtocol.isLoading(), 
            staProtocol.isInEnable(), 
            staProtocol.isEmptyMk(), 
            staProtocol.getWorkNo(), 
            staProtocol.isPakMk(), 
            staProtocol.getStamp()
        );
        News.errorNoLog(errorMsg);
        log.warn(errorMsg);
    }

    /**
     * 处理入库站点
     * @param mark 标记
     * @param sourceStaNo 源站点编号
     * @param targetStaNo 目标站点编号
     */
    private void processInboundStation(Integer mark, int sourceStaNo, short targetStaNo) {
        SiemensDevpThread devpThread = getDeviceThread(SlaveType.Devp, 1);
        if (devpThread == null) {
            log.warn("无法获取设备线程，设备ID: 1");
            return;
        }
        
        StaProtocol staProtocol = getStationProtocol(devpThread, sourceStaNo);
        if (staProtocol == null || !isStationReadyForProcessing(staProtocol)) {
            return;
        }
        
        if (staProtocol.getWorkNo() > 0 && 
            staProtocol.isAutoing() && 
            !staProtocol.isEmptyMk() && 
            staProtocol.isPakMk()) {
            
            if (staProtocol.getStaNo() == sourceStaNo) {
                sleepWithInterruptHandling(SLEEP_DURATION, "入库处理");
                staProtocol.setStaNo(targetStaNo);
                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                log.info("入库输送线下发：{},{}", staProtocol.getWorkNo(), targetStaNo);
            }
        }
    }

    /**
     * 获取设备线程
     * @param slaveType 从类型
     * @param id 设备ID
     * @return 设备线程
     */
    private SiemensDevpThread getDeviceThread(SlaveType slaveType, Integer id) {
        Object device = SlaveConnection.get(slaveType, id);
        if (device instanceof SiemensDevpThread) {
            return (SiemensDevpThread) device;
        }
        return null;
    }

    /**
     * 获取站点协议对象
     * @param devpThread 设备线程
     * @param staNo 站点编号
     * @return 站点协议对象
     */
    private StaProtocol getStationProtocol(SiemensDevpThread devpThread, int staNo) {
        try {
            StaProtocol staProtocol = devpThread.getStation().get(staNo);
            if (staProtocol != null) {
                return staProtocol.clone();
            }
        } catch (Exception e) {
            log.error("获取站点协议异常，站点编号: {}", staNo, e);
        }
        return null;
    }

    /**
     * 检查站点是否准备好处理
     * @param staProtocol 站点协议
     * @return 是否准备好
     */
    private boolean isStationReadyForProcessing(StaProtocol staProtocol) {
        return staProtocol != null && staProtocol.isLoading();
    }

    /**
     * 带中断处理的睡眠
     * @param duration 休眠时间
     * @param operationName 操作名称，用于日志
     */
    private void sleepWithInterruptHandling(long duration, String operationName) {
        try {
            Thread.sleep(duration);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
            log.error("{}线程中断异常", operationName, e);
            throw new RuntimeException(operationName + "线程中断", e);
        }
    }

    /**
     * 清空站点协议
     * @param staProtocol 站点协议
     * @param devpThread 设备线程
     */
    private void clearStationProtocol(StaProtocol staProtocol, SiemensDevpThread devpThread) {
        staProtocol.setWorkNo(0);
        staProtocol.setStaNo((short) 0);
        boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
        log.info("1007站点清空：{},{}", staProtocol.getWorkNo(), CTU_STATION_1006);
    }

    /**
     * 更新1006站点
     * @param devpThread 设备线程
     * @param workNo 工作号
     */
    private void updateStation1006(SiemensDevpThread devpThread, Integer workNo) {
        StaProtocol staProtocol1006 = devpThread.getStation().get(CTU_STATION_1006);
        if (staProtocol1006 != null) {
            staProtocol1006.setWorkNo(workNo);
            staProtocol1006.setStaNo((short) CTU_STATION_1007);
            boolean result2 = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol1006));
            log.info("1006站点往前走一格：{},{}", staProtocol1006.getWorkNo(), CTU_STATION_1007);
        } else {
            log.warn("无法获取1006站点协议");
        }
    }

    /**
     * 检查站点状态
     * @param staNo 站点编号
     * @return 站点是否可通行
     */
    private boolean checkStationStatus(Integer staNo) {
        StationRequestParam stationRequestParam = new StationRequestParam();
        List<String> staNos = new ArrayList<>();
        staNos.add(staNo + "");
        stationRequestParam.setStaNos(staNos);
        String response = "";
        try {
            response = new HttpHandler.Builder()
                    .setUri(ctuUrl)
                    .setPath(station)
                    .setTimeout(1200, TimeUnit.SECONDS)
                    .setJson(JSON.toJSONString(stationRequestParam))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(200)) {
                log.info("RCS返回数据：{}", response);
                JSONArray data = jsonObject.getJSONArray("data");
                List<StationStatus> stationStatuses = JSONArray.parseArray(data.toString(), StationStatus.class);
                for (StationStatus object : stationStatuses) {
                    if (object.getStaNo().equals(staNo + "")) {
                        if (object.getConveyable()) {
                            return true;
                        } else {
                            log.info("站点：{}状态不对", staNo);
                            return false;
                        }
                    }
                }
                log.info("未返回站点状态：{}", staNo);
            } else {
                log.error("调用下发任务接口报错，响应码：{}，响应内容：{}", jsonObject.getInteger("code"), response);
                throw new CoolException("调用下发任务接口报错，响应码：" + jsonObject.getInteger("code"));
            }
        } catch (CoolException e) {
            log.error("调用站点状态接口异常", e);
            throw e;
        } catch (Exception e) {
            log.error("检查站点状态失败，站点编号：{}", staNo, e);
        }
        return false;
    }
}