package com.zy.core.thread.impl;

import com.alibaba.fastjson.JSON;
import com.core.common.SpringUtils;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.TrafficControlDataModel;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.TrafficControlThread;
import com.zy.core.utils.TrafficControlUtils;

import java.io.IOException;
import java.util.*;
import java.util.function.Function;

public class TrafficControlImplThread implements TrafficControlThread {

    private RedisUtil redisUtil;

    private List<TrafficControlDataModel> applyList = new ArrayList<>();
    private HashMap<Integer,Long> shuttleReportErrorMap = new HashMap<>();
    private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
    private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
    private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>();
    private List<TrafficControlDataModel> trafficControlDataList = new ArrayList<>();

    public TrafficControlImplThread(RedisUtil redisUtil) {
        this.redisUtil = redisUtil;
    }

    @Override
    public void run() {
        //从缓存恢复交管信息
        Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_MAP.key);
        if(object != null) {
            trafficControlDataList = (List<TrafficControlDataModel>) object;
        }

        while (true) {
            try {
                if (applyList.isEmpty()) {
                    continue;
                }

                TrafficControlDataModel dataModel = applyList.get(0);
                processApply(dataModel);
                applyList.remove(0);
            }catch (Exception e){
                e.printStackTrace();
            }
        }

    }

    public synchronized boolean processApply(TrafficControlDataModel applyData) {
        ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
        if (shuttleOperaUtils == null) {
            return false;
        }

        if (applyData == null) {
            return false;
        }

        if (applyData.getShuttleNo() == null || applyData.getTaskNo() == null || applyData.getNodeList() == null || applyData.getTotalNodeList() == null) {
            return false;
        }

        Integer shuttleNo = applyData.getShuttleNo();
        Integer taskNo = applyData.getTaskNo();
        List<NavigateNode> nodeList = applyData.getNodeList();
        List<NavigateNode> totalNodeList = applyData.getTotalNodeList();

        //更新交管信息
        redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList);

        NavigateNode startNode = totalNodeList.get(0);
        List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, startNode.getZ());

        int[] currentShuttlePoint = Utils.getShuttlePoint(shuttleNo);
        if(currentShuttlePoint == null) {
            return false;
        }
        String currentShuttleLoc = Utils.getLocNo(currentShuttlePoint[0], currentShuttlePoint[1], startNode.getZ());

        List<String> shuttleLocList = new ArrayList<>();
        for (int[] shuttlePoint : shuttlePoints) {
            String locNo = Utils.getLocNo(shuttlePoint[0], shuttlePoint[1], startNode.getZ());
            shuttleLocList.add(locNo);
        }

        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                //存在管制
                if(!controlDataModel.getTaskNo().equals(taskNo)) {
                    return false;
                }

                for (NavigateNode node : nodeList) {
                    String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
                    if(shuttleLocList.contains(locNo)) {
                        ShuttleThread shuttleThread = Utils.searchShuttle(locNo);
                        if(shuttleThread != null) {
                            shuttleThread.restartCalcPath();
                        }
                    }
                }

//                News.info("traffic running {},{}", shuttleNo, taskNo);
                return true;//已经管制允许执行
            }
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return false;
        }

        if (!applyRecordsMap.containsKey(shuttleNo)) {
            applyRecordsMap.put(shuttleNo, System.currentTimeMillis());
        }

        Long applyRecordTime = applyRecordsMap.get(shuttleNo);
        if ((System.currentTimeMillis() - applyRecordTime) > 1000 * 10) {
            shuttleThread.restartCalcPath();
        }

        List<String> totalLocList = new ArrayList<>();
        for (NavigateNode node : totalNodeList) {
            String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
            totalLocList.add(locNo);
        }

        //检测路径是否有小车
        for (String loc : totalLocList) {
            if(shuttleLocList.contains(loc)) {
                ShuttleThread pathShuttleThread = Utils.searchShuttle(loc);
                if (pathShuttleThread == null) {
                    return false;
                }

                ShuttleProtocol shuttleProtocol = pathShuttleThread.getStatus();
                if(shuttleProtocol == null) {
                    return false;
                }

                if (pathShuttleThread.isIdle()) {
                    if(pathIdleShuttleMap.containsKey(shuttleProtocol.getShuttleNo())) {
                        Long idleTime = pathIdleShuttleMap.get(shuttleProtocol.getShuttleNo());
                        if((System.currentTimeMillis() - idleTime) > 1000 * 10) {
                            //检测障碍物车
                            boolean checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
                                add(shuttleNo);
                            }});
                            pathIdleShuttleMap.remove(shuttleProtocol.getShuttleNo());
                        }
                    }else {
                        pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
                    }
                }
                return false;//node has shuttle
            }
        }

        //检测节点是否被使用
        for (TrafficControlDataModel controlDataModel : trafficControlDataList) {
            List<NavigateNode> list = controlDataModel.getTotalNodeList();
            for (int i = 0; i < list.size(); i++) {
                NavigateNode node = list.get(i);
                String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
                if (i == 0 && currentShuttleLoc.equals(locNo)) {
                    continue;//..todo wait watch problem
                }

                if(totalLocList.contains(locNo)) {
                    return false;
                }
            }
        }

        //交管接收
        trafficControlDataList.add(applyData);

        applyRecordsMap.remove(shuttleNo);
        News.info("receipt traffic {},{}", shuttleNo, taskNo);
        return true;
    }

    @Override
    public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
        boolean add = true;
        for (TrafficControlDataModel controlDataModel : applyList) {
            if(controlDataModel.getShuttleNo().equals(shuttleNo)) {
                add = false;
                break;
            }
        }

        if (add) {
            TrafficControlDataModel model = new TrafficControlDataModel();
            model.setShuttleNo(shuttleNo);
            model.setTaskNo(taskNo);
            model.setNodeList(nodeList);
            model.setTotalNodeList(totalNodeList);
            applyList.add(model);
        }else {
            return false;
        }

        return true;
    }

    @Override
    public synchronized boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                if(controlDataModel.getTaskNo().equals(taskNo)) {
                    List<NavigateNode> newTotalNodeList = new ArrayList<>();
                    List<NavigateNode> totalNodeList = controlDataModel.getTotalNodeList();

                    List<String> reportList = new ArrayList<>();
                    for (NavigateNode node : nodeList) {
                        reportList.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ()));
                    }

                    for (NavigateNode node : totalNodeList) {
                        String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
                        if(reportList.contains(locNo)) {
                            continue;
                        }
                        newTotalNodeList.add(node);
                    }

                    controlDataModel.setTotalNodeList(newTotalNodeList);
                    trafficControlDataList.set(i, controlDataModel);
                    shuttleReportErrorMap.remove(shuttleNo);
                    return true;
                }
            }
        }
        return false;
    }

    @Override
    public boolean trafficReportError(Integer shuttleNo, Integer taskNo) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return false;
        }

        if(shuttleReportErrorMap.containsKey(shuttleNo)) {
            Long errorTime = shuttleReportErrorMap.get(shuttleNo);
            if((System.currentTimeMillis() - errorTime) > 1000 * 10) {
                shuttleReportErrorMap.remove(shuttleNo);
                shuttleThread.restartCalcPath();
            }
        }else {
            shuttleReportErrorMap.put(shuttleNo, System.currentTimeMillis());
        }
        return true;
    }

    @Override
    public synchronized boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                if(controlDataModel.getTaskNo().equals(taskNo)) {
                    trafficControlDataList.remove(i);//取消管制
                    return true;
                }
            }
        }
        return false;
    }

    @Override
    public boolean forceCancelTrafficControl(Integer shuttleNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                trafficControlDataList.remove(i);//取消管制
                return true;
            }
        }
        return false;
    }

    @Override
    public TrafficControlDataModel queryTrafficControl(Integer shuttleNo, Integer taskNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                if(controlDataModel.getTaskNo().equals(taskNo)) {
                    return controlDataModel;
                }
            }
        }
        return null;
    }

    @Override
    public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {
            TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
            if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
                return controlDataModel;
            }
        }
        return null;
    }

    @Override
    public List<TrafficControlDataModel> getAllTrafficControl() {
        return trafficControlDataList;
    }

    @Override
    public boolean connect() {
        return false;
    }

    @Override
    public void close() {

    }

}