package com.zy.core.thread.impl;

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.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.DeviceDataLogService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {

    private ShuttleSlave slave;
    private RedisUtil redisUtil;
    private ShuttleProtocol shuttleProtocol;
    private Socket socket;

    private static final boolean DEBUG = false;//调试模式

    private List<JSONObject> socketReadResults = new ArrayList<>();
    private List<JSONObject> socketResults = new ArrayList<>();

    //原始设备数据
    private Object originDeviceData;

    public NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }

    @Override
    public void run() {
        News.info("{}号四向车线程启动", slave.getId());
        this.connect();

        //监听消息并存储
        Thread innerThread = new Thread(() -> {
            while (true) {
                try {
                    listenSocketMessage();
                    listenInit();//监听初始化事件
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        innerThread.start();

        //设备读取
        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    read();
                    Thread.sleep(50);
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
                }
            }
        });
        readThread.start();

        //设备执行
        Thread executeThread = new Thread(() -> {
            while (true) {
                try {
                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    if (shuttleAction == null) {
                        continue;
                    }

                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
                    if (object == null) {
                        continue;
                    }

                    Integer taskNo = Integer.valueOf(String.valueOf(object));
                    if (taskNo != 0) {
                        //存在任务需要执行
                        boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
                    }

//                    //小车空闲且有跑库程序
//                    shuttleAction.moveLoc(slave.getId());

                    //演示模式
                    shuttleAction.demo(slave.getId());

                    Thread.sleep(200);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        executeThread.start();

        //其他任务
        Thread otherThread = new Thread(() -> {
            while (true) {
                try {
                    saveLog();//保存数据
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        otherThread.start();
    }

    private void saveLog() {
        if (shuttleProtocol == null) {
            return;
        }

        if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
            if (this.originDeviceData != null) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                if (deviceDataLogService == null) {
                    return;
                }
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
                deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
                deviceDataLog.setDeviceNo(slave.getId());
                deviceDataLog.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog);

                //更新采集时间
                shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            }
        }
    }

    private void listenSocketMessage() {
        try {
            if (this.socket == null) {
                return;
            }

            // 获取输入流
            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
            // 读取服务器的响应
            StringBuffer sb = new StringBuffer();
            char[] chars = new char[2048];//缓冲区
            while (true) {
                reader.read(chars);
                String trim = new String(chars);
                sb.append(trim);
                if (trim.lastIndexOf("\r\n") != -1) {
                    break;
                }
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集

            String msgType = result.getString("msgType");
            if ("responseMsg".equals(msgType)) {
                JSONObject response = result.getJSONObject("response");
                JSONObject body = response.getJSONObject("body");
                if (body.containsKey("workingMode")) {
                    //read
                    socketReadResults.add(body);
                    return;
                }
            }

            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
                socketResults.remove(0);//清理头节点
            }
            socketResults.add(result);//添加数据
        } catch (Exception e) {
//            e.printStackTrace();
        }
    }

    public JSONObject getRequestBody(String type, String taskId) {
        try {
            // 获取服务器响应
            JSONObject result = null;
            if (type.equals("readState")) {
                type = "state";
            }

            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (!socketResult.get("msgType").equals("responseMsg")) {//不是响应内容
                    continue;
                }

                JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
                String responseType = resultBody.get("responseType").toString();
                if (DEBUG) {
                    result = socketResult;
                    break;
                }

                if (!responseType.equals(type)) {
                    continue;//响应类型与请求类型不一致，不在调试模式下
                }

                if (taskId != null) {
                    String responseTaskId = resultBody.get("taskId").toString();
                    if (!responseTaskId.equals(taskId)) {
                        continue;//响应ID与请求ID不一致，不在调试模式下
                    }
                }

                result = socketResult;
                break;
            }

            if (result == null) {
                return null;//无响应结果
            }

            return filterBodyData(result);//返回Body结果集
        } catch (Exception e) {
            return null;
        }
    }

    private void read() {
        try {
            if (this.socket == null || this.socket.isClosed()) {
                //链接断开重新链接
                this.connect();
            }
            readStatus();
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new ShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId());
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);

                InnerSuhttleExtend extend = new InnerSuhttleExtend();
                shuttleProtocol.setExtend(extend);
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            requestCommandAsync(readStatusCommand);//请求状态

            if (this.socketReadResults.isEmpty()) {
                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
                    //最后一次上线时间超过60s，认定离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }
                return;
            }

            JSONObject data = this.socketReadResults.get(0);
            this.socketReadResults.remove(0);
            if (data == null) {
                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
                    //最后一次上线时间超过60s，认定离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            }else {

                //----------读取四向穿梭车状态-----------
                //小车设备状态
                shuttleProtocol.setDeviceStatus(data.getInteger("free"));
                //小车模式
                shuttleProtocol.setMode(data.getInteger("workingMode"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("point"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
                //电池电压
                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
                //故障
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
                //运行速度
                shuttleProtocol.setSpeed(data.getInteger("speed"));

                //*********读取扩展字段**********
                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
                //管制状态
                extend.setSuspendState(data.getInteger("suspendState"));
                //最高电芯电压(mV)
                extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
                //最低电芯电压(mV)
                extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
                //电池电压
                extend.setVoltage(data.getInteger("voltage"));
                //充放电循环次数
                extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
                //剩余电量
                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
                //总电量
                extend.setCountQuantity(data.getInteger("countQuantity"));
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于运行中，将标记置为true
                if (shuttleProtocol.getDeviceStatus() == 0) {
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                }

                if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                }

                this.originDeviceData = data;

                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            try {
                this.socket.close();
                this.socket = null;
                Thread.sleep(1000);
                this.connect();
            } catch (IOException | InterruptedException exception) {
                e.printStackTrace();
            }
        }
    }

    /**
     * 监听小车复位初始化信号
     */
    public void listenInit() {
        try {
            // 获取服务器响应
            JSONObject result = null;
            int removeIdx = -1;
            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (socketResult == null) {
                    continue;
                }
                if (!socketResult.get("msgType").equals("requestMsg")) {//不是请求内容
                    continue;
                }

                JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
                JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
                    //发出请求
                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                    JSONObject requestResult = requestCommand(httpCommand);

                    removeIdx = i;//此数据已经处理，从结果集中剔除

                    log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
                    break;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    @Override
    public ShuttleProtocol getStatus() {
        return getStatus(true);
    }

    @Override
    public ShuttleProtocol getStatus(boolean clone) {
        if (this.shuttleProtocol == null) {
            return null;
        }
        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
    }

    @Override
    public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
        CommandResponse response = new CommandResponse(true);
        return response;
    }

    @Override
    public CommandResponse move(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            Map<String, Object> body = httpCommand.getRequest().getBody();
            Object pathObj = body.get("path");
            int taskId = Integer.parseInt(body.get("taskId").toString());
            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
            while (!path.isEmpty()) {
                ArrayList<Map<String, Object>> list = new ArrayList<>();
                if (path.size() > 10) {
                    List<JSONObject> subList = path.subList(0, 10);
                    list.addAll(subList);

                    List<JSONObject> tmp = new ArrayList<>();
                    for (int i = 10; i < path.size(); i++) {
                        tmp.add(path.get(i));
                    }
                    path = tmp;
                }else  {
                    list.addAll(path);
                    path.clear();
                }

                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));

                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
                bodyCopy.put("path", list);
                bodyCopy.put("taskId", taskId++);
                request.setBody(bodyCopy);
                httpCommandCopy.setRequest(request);

                commandList.add(httpCommandCopy);//add copy
            }

            for (NyShuttleHttpCommand requestCommand : commandList) {
                while (true) {
                    JSONObject result = requestCommand(requestCommand);
                    if (result == null) {
//                        return response;//请求失败
                        continue;//请求失败尝试重新请求
                    }
                    this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                    response.setMessage(JSON.toJSONString(result));
                    response.setResult(true);
                    break;
                }
            }
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            response.setMessage(e.getMessage());
            return response;
        }
    }

    @Override
    public CommandResponse lift(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            if (result == null) {
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public CommandResponse charge(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            if (result == null) {
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public CommandResponse reset(ShuttleCommand command) {
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return new CommandResponse(true, JSON.toJSONString(command));
    }

    @Override
    public CommandResponse updateLocation(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            if (result == null) {
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getTaskNo() == 0
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
                && extend.getSuspendState() == 0;
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && extend.getSuspendState() == 0
                ;
        return res;
    }

    @Override
    public boolean isRequireCharge() {
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                && extend.getSuspendState() == 0
                ;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值需要进行充电
            try {
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;
                }
                BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));
                if (basShuttle == null) {
                    return false;
                }
                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
            } catch (Exception e) {
                return false;
            }
        }
    }

    @Override
    public boolean isCharging() {
        if (this.shuttleProtocol.getDeviceStatus() == null || this.shuttleProtocol.getHasCharge() == null) {
            return false;
        }

        if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
            //运行中 && 充电中
            return true;
        }
        return false;
    }

    @Override
    public boolean isChargingCompleted() {
        Integer maxPower = 100;
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService != null) {
            Config chargeMaxValue = configService.selectOne(new EntityWrapper<Config>()
                    .eq("code", "chargeMaxValue")
                    .eq("status", 1));
            if (chargeMaxValue != null) {
                maxPower = Integer.parseInt(chargeMaxValue.getValue());
            }
        }

        if (this.shuttleProtocol.getHasCharge() == null) {
            return false;
        }

        if (this.shuttleProtocol.getBatteryPower() == null) {
            return false;
        }

        if (!this.shuttleProtocol.getHasCharge()) {
            return false;
        }

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
            return true;
        }
        return false;
    }

    @Override
    public boolean isFault() {
        if (this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
        }

        if (this.shuttleProtocol.getMode() == 0) {
            return true;
        }

        if (!this.shuttleProtocol.getErrorCode().equals("0")) {
            return true;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        if (extend.getSuspendState() == 1) {
            return true;
        }

        return false;
    }

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = null;
                try {
                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
                } catch (IOException e) {
                    return path;
                }
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
                if (nodes == null) {
                    return path;
                }
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }
                NavigateNode navigateNode = path.get(0);
                int lev = navigateNode.getZ();

                //将路径锁与小车路径进行匹配
                ArrayList<NavigateNode> tmp = new ArrayList<>();
                //检测路径是否被锁定
                int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
                for (NavigateNode node : path) {
                    if(map[node.getX()][node.getY()] == -999) {
                        tmp.add(node);
                    }
                }

                path = tmp;
            }
        }
        return path;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type) {
        return taskNo;
    }

    @Override
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setTaskNo(Integer taskNo) {
        this.shuttleProtocol.setTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setPakMk(boolean pakMk) {
        this.shuttleProtocol.setPakMk(pakMk);
        return true;
    }

    @Override
    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
        if (enable) {
            shuttleProtocol.setMoveLoc(true);//开启跑库
            shuttleProtocol.setMoveType(param.getMoveType());
            shuttleProtocol.setXStart(param.getStartX());
            shuttleProtocol.setXTarget(param.getTargetX());
            shuttleProtocol.setXCurrent(param.getStartX());
            shuttleProtocol.setYStart(param.getStartY());
            shuttleProtocol.setYTarget(param.getTargetY());
            shuttleProtocol.setYCurrent(param.getStartY());
        }else {
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
        }
        return true;
    }

    @Override
    public boolean requestWaiting() {
        if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
            this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
            return true;
        }
        return false;
    }

    @Override
    public boolean enableDemo(boolean enable) {
        shuttleProtocol.setDemo(enable);
        return true;
    }

    @Override
    public boolean offerSystemMsg(String format, Object... arguments) {
        String msg = News.replace(format, arguments);
        shuttleProtocol.setSystemMsg(msg);
        return true;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();

        Integer taskId = getTaskId();
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", taskId);//TaskID需要随机
//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
        body.put("path", path);
        request.setBody(body);

        NavigateNode startNode = nodes.get(0);
        for (NavigateNode node : nodes) {
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.NONE.id, null, null);
            List<MapNode> mapNodes = mapData.get(node.getX());
            MapNode mapNode = mapNodes.get(node.getY());

            data.put("xp", xp);
            data.put("yp", yp);
            data.put("z", z);
            data.put("x", mapNode.getXBase());
            data.put("y", mapNode.getYBase());
            path.add(data);
        }

        httpStandard.setRequest(request);

        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("qr_code_value", distCodeNum));
        if (locMast == null) {
            throw new CoolException("库位信息不存在");
        }

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(locMast.getLocNo());
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateFloor");//更新层Z
        body.put("z", Utils.getLev(locNo));//坐标Z
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
        command.setTaskNo(taskNo);
        return command;
    }

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        //code -> {Integer@13781} 1101101
        int lev = code % 100;
        int bay = code / 100 % 1000;
        int row = code / 100000;

        HashMap<String, Object> map = new HashMap<>();
        map.put("x", row);
        map.put("y", bay);
        map.put("z", lev);

        String mapStr = JSON.toJSONString(map);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("qr_code_value", mapStr));
        if (locMast == null) {
            throw new CoolException("地址码不存在");
        }

        List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
        List<MapNode> mapNodes = mapData.get(locMast.getRow1());
        MapNode mapNode = mapNodes.get(locMast.getBay1());

        HashMap<String, Object> location = new HashMap<>();
        location.put("xp", row);
        location.put("yp", bay);
        location.put("z", lev);
        location.put("x", mapNode.getXBase());
        location.put("y", mapNode.getYBase());

        HashMap<String, Object> body = new HashMap<>();
        body.put("responseType", "init");//复位
        body.put("location", location);//初始化坐标
        body.put("devicePoints", new ArrayList<>());//提升机点位
        body.put("specialPoints", new ArrayList<>());//特殊条码坐标
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.RESET.id);
        command.setTaskNo(taskNo);
        return command;
    }

    @Override
    public boolean connect() {
        try {
            Socket socket = new Socket(slave.getIp(), slave.getPort());
            socket.setSoTimeout(10000);
            socket.setKeepAlive(true);
            this.socket = socket;
            log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        } catch (IOException e) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            return false;
        }

        return true;
    }

    @Override
    public void close() {

    }

    //获取HTTP请求标准结构体
    private NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer taskNo) {
        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
        httpStandard.setMsgType("requestMsg");//请求消息
        httpStandard.setRobotId(shuttleNo);//车辆编号
        httpStandard.setTaskNo(taskNo);//工作号

        //设置请求消息
        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
        NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
        header.setVersion("1.0");//版本号
        header.setRequestId(getRequestId());//消息编号

        //设置请求头
        request.setHeader(header);
        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取请求编号
    private Integer getRequestId() {
        Random random = new Random();
        return random.nextInt(9999999);
    }

    //获取TaskId
    private static Integer getTaskId() {
        Random random = new Random();
        return random.nextInt(999999);
    }

    //获取读FAS状态信息命令
    private NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "readState");//读FAS状态信息
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //发出请求
    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
        if (this.socket == null) {
            return null;
        }

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");

        // 获取输出流
        OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        String requestType = null;
        String taskId = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
            taskId = httpCommand.getRequest().getBody().get("taskId").toString();
        } catch (Exception e) {
//            return null;
            //taskId可能取空，不报错，正常情况
        }

        // 获取服务器响应
        // 尝试10次
        JSONObject result = null;
        for (int i = 0; i < 10; i++) {
            result = getRequestBody(requestType, taskId);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }else {
                break;
            }
        }
        return result;//返回Body结果集
    }

    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
        if (this.socket == null) {
            return;
        }

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");

        // 获取输出流
        OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
    }

    private JSONObject filterBodyData(JSONObject data) {
        Object response = data.get("response");
        if (response == null) {
            return null;
        }

        JSONObject result = JSON.parseObject(response.toString());
        Object body = result.get("body");
        if (body == null) {
            return null;
        }
        JSONObject jsonBody = JSON.parseObject(body.toString());
        return jsonBody;
    }

    //地图节点转换牛眼节点
    private static Map<String, Object> navigateNodeToNyPointNode(NavigateNode node) {
        int[] NyPosition = WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS系统坐标转牛眼坐标
        HashMap<String, Object> point = new HashMap<>();
        point.put("x", NyPosition[0]);
        point.put("y", NyPosition[1]);
        point.put("z", NyPosition[2]);
        return point;
    }

    //WCS系统坐标转牛眼坐标
    private static int[] WCSXyzToNyXyz(int x, int y, int z) {
//        //WCS系统Y轴 => 牛眼X轴转换公式
//        int x1 = Math.abs(y - 61) + 11;
//        //WCS系统X轴 => 牛眼Y轴转换公式
//        int y1 = x + 10;

//        int x1 = x + 10;
//        int y1 = y + 10;
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("row1", x)
                .eq("bay1", y)
                .eq("lev1", z)
                .eq("status", 1));
        if (locMast == null) {
            return null;
        }

        String qrCodeValue = locMast.getQrCodeValue();
        JSONObject data = JSON.parseObject(qrCodeValue);
        return new int[]{data.getInteger("y"), data.getInteger("x"), z};
    }

    @Data
    private class InnerSuhttleExtend {

        /**
         * 管制状态不在管制下/被管制中
         * 0/1
         */
        private Integer suspendState;

        /**
         * 最高电芯电压(mV)
         */
        private Integer maxCellVoltage;

        /**
         * 最低电芯电压(mV)，低于2900mv需要立即充电
         */
        private Integer minCellVoltage;

        /**
         * 电池电压（mV）
         */
        private Integer voltage;

        /**
         * 充放电循环次数
         */
        private Integer chargeCycleTimes;

        /**
         * 剩余电量/10(A)
         */
        private Integer surplusQuantity;

        /**
         * 总电量/10(A)
         */
        private Integer countQuantity;

    }
}