package com.zy.core.network.real;

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.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasDevpService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Collections;
import java.util.Comparator;
import java.util.Date;
import java.util.List;

/**
 * 输送站真实连接（PLC）
 */
@Slf4j
public class ZyStationV3RealConnect implements ZyStationConnectApi {

    private List<ZyStationStatusEntity> statusList;
    private List<StationObjModel> barcodeOriginList;
    private SiemensS7Net siemensNet;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private final static int taskAddressLength = 48;
    private final static int taskAddressLimit = 50;

    public ZyStationV3RealConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
    }

    @Override
    public boolean connect() {
        boolean connected = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1500, deviceConfig.getIp());
        OperateResult connect = siemensNet.ConnectServer();
        if (connect.IsSuccess) {
            connected = true;
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]",
                    DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
                    deviceConfig.getPort()));
            News.info("输送站plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]",
                    deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]",
                    DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
                    deviceConfig.getPort()));
            News.error("输送站plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]",
                    deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        }
//        siemensNet.ConnectClose();
        return connected;
    }

    @Override
    public boolean disconnect() {
        siemensNet.ConnectClose();
        return true;
    }

    @Override
    public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
        if (statusList == null) {
            BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
            if (basDevpService == null) {
                return Collections.emptyList();
            }

            BasDevp basDevp = basDevpService
                    .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
            if (basDevp == null) {
                return Collections.emptyList();
            }

            statusList = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
            if (statusList != null) {
                statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
            }
            barcodeOriginList = basDevp.getBarcodeStationList$();
        }

        if (siemensNet == null) {
            return statusList;
        }

        OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 8));
        if (result.IsSuccess) {
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i); // 站点编号
                statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 8)); // 工作号
                statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8 + 4)); // 目标站

                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 6, 1);
                statusEntity.setAutoing(status[0]); // 自动
                statusEntity.setLoading(status[1]); // 有物
                statusEntity.setInEnable(status[2]); // 可入
                statusEntity.setOutEnable(status[3]);// 可出
                statusEntity.setEmptyMk(status[4]); // 空托盘
                statusEntity.setFullPlt(status[5]); // 满托盘

                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 7, 1);
                statusEntity.setRunBlock(status2[1]);//重新规划路线
                statusEntity.setEnableIn(status2[3]);//启动入库

                Integer palletHeight = null;
                if (status[7]) {
                    palletHeight = 1;//低
                }
                if (status2[0]) {
                    palletHeight = 2;//中
                }
                if (status[6]) {
                    palletHeight = 3;//高
                }
                statusEntity.setPalletHeight(palletHeight);//高低信号

                statusEntity.setError(0);//默认无报警
            }
        }

        // 条码扫描器
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.0", (short) (barcodeOriginList.size() * 16));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 16 + 2, 14, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
            }
        }

        // 称重
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.0", (short) (barcodeOriginList.size() * 4));
        if (result3.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                double weight = (double) siemensNet.getByteTransform().TransSingle(result3.Content, i * 4);
                barcodeEntity.setWeight(weight);
            }
        }

        // 报警信息
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.0", (short) (barcodeOriginList.size() * 2));
        if (result4.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }

                StringBuilder sb = new StringBuilder();
                boolean[] status1 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2, 1);
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2 + 1, 1);

                if(status1[0]){
                    sb.append("左超宽报警;");
                }
                if(status1[1]) {
                    sb.append("右超宽报警;");
                }
                if(status1[2]) {
                    sb.append("前超长报警;");
                }
                if(status1[3]) {
                    sb.append("后超长报警;");
                }
                if(status1[4]) {
                    sb.append("超高报警;");
                }
                if(status1[5]) {
                    sb.append("有货报警，空托入库时检测托盘上有无货物;");
                }
                if(status1[6]) {
                    sb.append("重量异常报警;");
                }
                if(status1[7]) {
                    sb.append("扫码异常;");
                }

                if(sb.length() > 0) {
                    barcodeEntity.setError(1);
                }else {
                    barcodeEntity.setError(0);
                }
                barcodeEntity.setErrorMsg(sb.toString());
            }
        }

        return statusList;
    }

    @Override
    public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
        CommandResponse commandResponse = new CommandResponse(false);
        if (null == command) {
            commandResponse.setMessage("命令为空");
            return commandResponse;
        }

        int maxTryCount = 999;
        int tryCount = 0;
        if (command.getCommandType().equals(StationCommandType.MOVE)) {
            int enableCommandIdx = -1;
            while (true) {
                enableCommandIdx = getEnableCommandIdx(command.getTaskNo());
                if(enableCommandIdx == -1) {
                    try {
                        Thread.sleep(300);
                    }catch (Exception e) {}
                }else {
                    break;
                }
                tryCount++;
                if (tryCount > maxTryCount) {
                    commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
                    return commandResponse;
                }
            }

            List<Integer> pathList = command.getNavigatePath();

            short[] data = new short[21];
            data[0] = command.getTargetStaNo().shortValue();

            int dataIdx = 1;
            for (Integer path : pathList) {
                data[dataIdx++] = path.shortValue();
            }

            OperateResult writeTask = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength), command.getTaskNo());
            try {
                Thread.sleep(50);
            }catch (Exception e) {}

            OperateResult writeData = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 4), data);
            try {
                Thread.sleep(200);
            }catch (Exception e) {}
            OperateResult writeConfirm = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 46), (short) 1);

            if(writeTask.IsSuccess &&  writeData.IsSuccess &&  writeConfirm.IsSuccess) {
                log.error("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(true);
            }else {
                log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(false);
            }
        } else if (command.getCommandType().equals(StationCommandType.WRITE_INFO)) {
            int enableCommandIdx = -1;
            while (true) {
                enableCommandIdx = getEnableCommandIdx(command.getTaskNo());
                if(enableCommandIdx == -1) {
                    try {
                        Thread.sleep(300);
                    }catch (Exception e) {}
                }else {
                    break;
                }
                tryCount++;
                if (tryCount > maxTryCount) {
                    commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
                    return commandResponse;
                }
            }

            short[] data = new short[21];
            data[0] = command.getTargetStaNo().shortValue();
            data[1] = command.getTargetStaNo().shortValue();

            OperateResult writeTask = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength), command.getTaskNo());
            try {
                Thread.sleep(50);
            }catch (Exception e) {}

            OperateResult writeData = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 4), data);
            try {
                Thread.sleep(200);
            }catch (Exception e) {}
            OperateResult writeConfirm = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 46), (short) 1);

            if(writeTask.IsSuccess &&  writeData.IsSuccess &&  writeConfirm.IsSuccess) {
                log.error("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(true);
            }else {
                log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(false);
            }
        }
        return commandResponse;
    }

    @Override
    public CommandResponse sendOriginCommand(String address, short[] data) {
        CommandResponse commandResponse = new CommandResponse(false);
        if (null == data || data.length == 0) {
            commandResponse.setMessage("数据为空");
            return commandResponse;
        }

        OperateResult write = siemensNet.Write(address, data);
        if (write.IsSuccess) {
            log.info("写入原始命令成功。地址={}，数据={}", address, JSON.toJSON(data));
            commandResponse.setResult(true);
        } else {
            log.error("写入原始命令失败。地址={}，数据={}", address, JSON.toJSON(data));
            commandResponse.setResult(false);
        }
        return commandResponse;
    }

    @Override
    public byte[] readOriginCommand(String address, int length) {
        OperateResultExOne<byte[]> result = siemensNet.Read(address, (short) length);
        if (result.IsSuccess) {
            return result.Content;
        }
        return new byte[0];
    }

    private ZyStationStatusEntity findStatusEntityByBarcodeIdx(Integer barcodeIdx) {
        Integer stationId = null;
        for (StationObjModel stationObjModel : barcodeOriginList) {
            if (stationObjModel.getBarcodeIdx().equals(barcodeIdx)) {
                stationId = stationObjModel.getStationId();
                break;
            }
        }

        for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
            if(zyStationStatusEntity.getStationId().equals(stationId)) {
                return zyStationStatusEntity;
            }
        }
        return null;
    }

    private int getEnableCommandIdx(int taskNo) {
        int useIdx = -1;
        for (int i = 0; i < taskAddressLimit; i++) {
            OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB23." + (i * taskAddressLength + 0), (short) 4);
            OperateResultExOne<byte[]> resultStatus = siemensNet.Read("DB23." + (i * taskAddressLength + 46), (short) 2);
            if(!resultTask.IsSuccess || !resultStatus.IsSuccess) {
                continue;
            }

            int commandAreaTaskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, 0);
            if(commandAreaTaskNo == taskNo) {
                return -1;
            }

            int taskStatus = siemensNet.getByteTransform().TransInt16(resultStatus.Content, 0);
            if (taskStatus == 1) {
                continue;
            }

            useIdx = i;
            break;
        }
        return  useIdx;
    }

}