package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NyLiftUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.enums.NyLiftTaskModelType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.List;

/**
 * 提升机接口
 */
@Slf4j
@RestController
@RequestMapping("/lift")
public class LiftController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(slave.getId());   //提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                vo.setProtocolStatus(LiftProtocolStatusType.OFFLINE.id);//离线
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null || liftProtocol.getLiftNo()==null) {
                continue;
            }
            vo.setTaskNo(liftProtocol.getTaskNo());  //  任务号
            vo.setProtocolStatus(liftProtocol.getProtocolStatusType().id);
            vo.setModel(liftProtocol.getModel());
            vo.setBusy(liftProtocol.getBusy());
            vo.setHasTray(liftProtocol.getHasTray());
            vo.setHasCar(liftProtocol.getHasCar());
            vo.setDeviceError(liftProtocol.getDeviceError());
            vo.setFrontOverrun(liftProtocol.getFrontOverrun());
            vo.setBackOverrun(liftProtocol.getBackOverrun());
            vo.setLeftOverrun(liftProtocol.getLeftOverrun());
            vo.setRightOverrun(liftProtocol.getRightOverrun());
            vo.setOverHeight(liftProtocol.getOverHeight());
            vo.setOverWeight(liftProtocol.getOverWeight());
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/lift/msg")
    @ManagerAuth(memo = "提升机数据表")
    public R liftMsgTable(){
        List<LiftMsgTableVo> list = new ArrayList<>();
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(slave.getId());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                continue;
            }

            vo.setWorkNo(liftProtocol.getTaskNo().intValue());//任务号
            vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLev(liftProtocol.getLev());
            vo.setTaskAddress(liftProtocol.getTaskAddress());
            vo.setDistAddress(liftProtocol.getDistAddress());
            vo.setCompleteTaskNo(liftProtocol.getCompleteTaskNo());
            vo.setShuttleNo(liftProtocol.getShuttleNo().intValue());
            vo.setToken(liftProtocol.getToken());//令牌
        }
        return R.ok().add(list);
    }

    @PostMapping("/output/lift")
    @ManagerAuth
    public R liftOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    @GetMapping("/detl/{liftNo}")
    public R liftDetl(@PathVariable("liftNo") Integer liftNo){
        LiftDataVo vo = new LiftDataVo();
        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            if (liftNo.equals(liftSlave.getId())) {
                vo.setLiftNo(liftSlave.getId());
                BasLift basLift = basLiftService.selectById(liftSlave.getId());
                if (!Cools.isEmpty(basLift)) {
                    vo.setWorkNo(basLift.getWrkNo());
                    vo.setPakMk(basLift.getPakMk());
                }
                break;
            }
        }
        return R.ok().add(vo);
    }

    @GetMapping("/sensor/detl/{liftNo}")
    public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
        LiftSensorDataVo vo = new LiftSensorDataVo();
        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            if (liftNo.equals(liftSlave.getId())) {
                vo.setLiftNo(liftSlave.getId());
                // 获取提升机信息
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
                if (liftThread == null) {
                    return R.error("设备不在线");
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    return R.error("设备不在线");
                }

                break;
            }
        }
        return R.ok().add(vo);
    }

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

    @ManagerAuth(memo = "手动操作")
    @PostMapping("/operator/lift")
    public R liftOperator(LiftOperatorParam param){
        if (Cools.isEmpty(param.getLiftNo())) {
            return R.parse(BaseRes.PARAM);
        }

        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            if (param.getLiftNo().equals(liftSlave.getId())) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
                if (liftThread == null) {
                    throw new CoolException("提升机不在线");
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    throw new CoolException("提升机不在线");
                }

                if (param.getLiftTaskMode() == 1) {
                    //提升机升降楼层
                    int workNo = commonService.getWorkNo(3);//获取任务号

                    Integer startSta = null;
                    Integer targetSta = null;
                    for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                        if (liftStaProtocol.getLev() == liftProtocol.getLev().intValue()) {
                            startSta = liftStaProtocol.getStaNo();
                        }

                        if (liftStaProtocol.getLev() == param.getLev()) {
                            targetSta = liftStaProtocol.getStaNo();
                        }
                    }

                    if (startSta == null || targetSta == null) {
                        throw new CoolException("起点或目标点不存在");
                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, startSta, targetSta, workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 2) {
                    //移动托盘
                    int workNo = commonService.getWorkNo(3);//获取任务号

//                    LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(param.getSourceStaNo());
//                    LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(param.getStaNo());
//                    if (sourceLiftSta == null || liftSta == null) {
//                        throw new CoolException("源站或目标站不存在");
//                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, param.getSourceStaNo(), param.getStaNo(), workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 0) {
                    //提升机复位
                    liftProtocol.setToken(0);
                    liftProtocol.setProtocolStatusType(LiftProtocolStatusType.IDLE);
                } else {
                    throw new CoolException("未知命令");
                }

            }
        }
        return R.error();
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
        if (liftThread == null) {
            return R.error("plc已掉线");
        }
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        if (liftProtocol == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            liftProtocol.setTaskNo(workNo);
        }
        if (pakMk != null) {
            liftProtocol.setPakMk(pakMk.equals("Y"));
        }
        if (token != null) {
            liftProtocol.setToken(token);
        }
        return R.ok();
    }

    @RequestMapping(value = "/command/query")
    public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        return R.ok().add(redisCommand);
    }

    //回退命令
    @RequestMapping(value = "/command/rollback")
    public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep) {
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //命令完成状态切换
    @RequestMapping(value = "/command/completeSwitch")
    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep
            , @RequestParam("complete") Integer complete) {
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<NyLiftCommand> commands = assignCommand.getCommands();
        NyLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //重启任务(命令)
    @RequestMapping(value = "/command/restart")
    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        Short liftNo = redisCommand.getLiftNo();
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
        if (liftThread == null) {
            return R.error();
        }
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        if (liftProtocol == null) {
            return R.error();
        }
        if (!liftProtocol.isIdle()) {
            return R.error();
        }
        //提升机处于空闲状态，进行任务的恢复
        liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
        return R.ok();
    }

    //删除任务(命令)
    @RequestMapping(value = "/command/del")
    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        redisUtil.del("lift_wrk_no_" + wrkNo);
        return R.ok();
    }

}