package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
//import com.zy.asrs.entity.BasRgv;
//import com.zy.asrs.entity.BasRgvOpt;
//import com.zy.asrs.service.BasRgvOptService;
//import com.zy.asrs.service.BasRgvService;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
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 lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * RGV线程
 */
@Data
@Slf4j
public class ZyRgvThread implements Runnable, RgvThread {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
    private boolean resetFlag1 = false;//工位1复位信号
    private boolean resetFlag2 = false;//工位2复位信号

    public ZyRgvThread(RgvSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo1(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.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.setAckFinish(true);  // 任务完成确认位
                        write(command);
                        break;

                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
            }

        }
    }

    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//工位1工作号
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 6));//RGV状态
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//走行在定位
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt32(result.Content, 12));//备用1
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位1有物
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));//异常码
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 20));//备用2
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));//备用3
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 28));//备用4

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {

                }

                try {
                    // 根据实时信息更新数据库
//                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
//                    BasRgv basRgv = new BasRgv();
//                    basRgv.setRgvNo(slave.getId());
//                    basRgv.setMode(rgvProtocol.getMode().intValue());
//                    basRgv.setStatus(rgvProtocol.getStatus().intValue());
//                    basRgv.setTaskNo1(rgvProtocol.getTaskNo1());
//                    basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
//                    basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
//                    basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
////                    basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
////                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
////                    basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
////                    basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
//                    basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
////                    basRgv.setHeart(rgvProtocol.getHeart().intValue());
//                    basRgv.setTemp1(rgvProtocol.getTemp1());
//                    basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
//                    basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
////                    basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
////                    basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
//                    if (!basRgvService.updateById(basRgv)){
//                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//                    }
                } catch (Exception ignore){}

            } else {
                initRgv();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }

    /**
     * 写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getSourceStaNo2();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getDestinationStaNo2();
        array[4] = command.getTaskMode1();

        OperateResult result1 = siemensNet.Write("DB100.0",array);
        OperateResult result2 = siemensNet.Write("DB100.10",command.getTaskNo1());
        OperateResult result3 = siemensNet.Write("DB100.18.1",command.isAckFinish());

        if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){
            log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultReadAck = siemensNet.Read("DB100.18.1", (short) 1);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransBool(resultReadAck.Content, 0));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
//                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (    !command.isAckFinish() == one.isAckFinish() ||
                        !command.getTaskNo1().equals(one.getTaskNo1()) ||
                        !command.getTaskMode1().equals(one.getTaskMode1()) ||
                        !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
                ){
                    try{
                        log.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    log.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    log.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            log.error("RGV命令地址写入后回读出错");
        }

        if (!command.isAckFinish()) {
            if (result1.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    result1 = siemensNet.Write("DB100.18", true);
                    if(result1.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
                                log.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                log.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            log.error("RGV任务确认位回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.error("RGV任务确认位写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

        if (result1 != null && result1.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }

    }


    /**
     * 初始化堆垛机状态
     */
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) 0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 1);
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
    }
}