package com.zy.core.model.protocol;

import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleErr;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleErrService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.core.News;
import com.zy.core.enums.ShuttleErrorCodeType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

/**
 * 四向穿梭车
 */
@Slf4j
@Data
public class ShuttleProtocol {

    /**
     * 四向穿梭车号
     */
    private Short shuttleNo;

    /**
     * 任务号
     */
    private Short taskNo = 0;

    /**
     * 任务指令
     */
    private ShuttleAssignCommand assignCommand;

    /**
     * 当前小车状态（内部自我维护）
     */
    private Integer protocolStatus;

    /**
     * 当前小车状态枚举
     */
    private ShuttleProtocolStatusType protocolStatusType;

    /**
     * 源库位
     */
    private String sourceLocNo;

    /**
     * 目标库位
     */
    private String locNo;

    /**
     * 小车忙状态位
     * 1: 忙
     * 0: 空闲
     */
    private Short busyStatus;

    /**
     * 小车忙状态位枚举
     */
    private ShuttleStatusType busyStatusType;

    /**
     * 当前二维码
     * 0为空
     */
    private Short currentCode;

    /**
     * 电池电量百分比
     */
    private Short batteryPower;

    /**
     * 电池温度
     */
    private Integer batteryTemp;

    /**
     * 错误编号
     */
    private Short errorCode;

    /**
     * 错误编号枚举
     */
    private ShuttleErrorCodeType errorCodeType;

    /**
     * Plc输出状态IO
     */
    private Short plcOutputStatusIO;

    /**
     * Plc输出状态IO-顶升位
     */
    private Boolean plcOutputLift;

    /**
     * Plc输出状态IO-换向位
     */
    private Boolean plcOutputTransfer;

    /**
     * Plc输出状态IO-抱闸位
     */
    private Boolean plcOutputBrake;

    /**
     * Plc输出状态IO-充电位
     */
    private Boolean plcOutputCharge;

    /**
     * 错误信息码
     */
    private Short statusErrorCode;

    /**
     * PLC输入状态，目前只有一个状态有效果，托盘雷达1有货，0无货
     */
    private Short plcInputStatus;

    /**
     * 当前或者之前读到的二维码值
     */
    private Short currentOrBeforeCode;

    /**
     * 读到的二维码X方向偏移量
     */
    private Short codeOffsetX;

    /**
     * 读到的二维码Y方向偏移量
     */
    private Short codeOffsetY;

    /**
     * 当前的电压值
     */
    private Integer currentVoltage;

    /**
     * 当前的模拟量值
     */
    private Short currentAnalogValue;

    /**
     * 当前的升降伺服速度
     */
    private Short currentLiftServoSpeed;

    /**
     * 当前的行走伺服速度
     */
    private Short currentMoveServoSpeed;

    /**
     * 当前的升降伺服负载率
     */
    private Short currentLiftServoLoad;

    /**
     * 当前的行走伺服负载率
     */
    private Short currentMoveServoLoad;

    /**
     * 作业标记
     */
    private Boolean pakMk = true;

    public void setBusyStatus(Short status) {
        this.busyStatus = status;
        this.busyStatusType = ShuttleStatusType.get(status.intValue());
    }

    public void setBusyStatus(ShuttleStatusType type) {
        this.busyStatus = type.id.shortValue();
        this.busyStatusType = type;
    }

    //获取电池电量
    public Short getBatteryPower$() {
        return (short) (this.batteryPower * 0.1);
    }

    //获取电池温度
    public Short getBatteryTemp$() {
        return (short) (this.batteryTemp * 0.1);
    }

    /**
     * 设置小车状态
     */
    public void setProtocolStatus(Integer status) {
        this.protocolStatus = status;
        this.protocolStatusType = ShuttleProtocolStatusType.get(status);
    }

    /**
     * 设置小车状态
     */
    public void setProtocolStatus(ShuttleProtocolStatusType status) {
        this.protocolStatus = status.id;
        this.protocolStatusType = status;
    }

    /**
     * 设置错误编号
     */
    public void setErrorCode(Short errorCode) {
        this.errorCode = errorCode;
        this.errorCodeType = ShuttleErrorCodeType.get(errorCode.intValue());
    }

    /**
     * 设置错误编号
     */
    public void setErrorCode(ShuttleErrorCodeType type) {
        this.errorCode = type.id.shortValue();
        this.errorCodeType = type;
    }

    // 是否处于空闲待命状态
    public Boolean isIdle() {
        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
                && this.taskNo == 0
                && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量
            try {
                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return this.getBatteryPower$() >= chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
    }

    // 是否处于空闲待命状态，传入的taskNo和当前taskNo相同时允许放行
    public Boolean isIdle(Short taskNo) {
        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
                && (this.taskNo == 0 || this.taskNo.intValue() == taskNo.intValue())
                && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量
            try {
                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
                return this.getBatteryPower$() > chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
    }

    // 是否满足充电状态
    public Boolean isRequireCharge() {
        if (this.busyStatusType == null || this.pakMk == null || this.errorCodeType == null || this.taskNo == null) {
            return false;
        }

        boolean res = this.busyStatusType.id.intValue() == ShuttleStatusType.IDLE.id.intValue()
                && this.pakMk
                && this.errorCodeType.id.intValue() == ShuttleErrorCodeType.NORMAL.id.intValue()
                && this.taskNo == 0
                && this.protocolStatusType.id == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值或电压小于48V，需要进行充电
            try {
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;

                }
                BasShuttle basShuttle = shuttleService.selectById(this.shuttleNo);
                if (basShuttle == null) {
                    return false;
                }
                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return this.getBatteryPower$() < chargeLine || this.currentVoltage < 48000;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
    }

    //通过当前二维码获取当前库位号
    public String getCurrentLocNo() {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        if (locMastService == null) {
            return null;
        }
        //源库位(小车当前位置)
        LocMast currentLocMast = locMastService.queryByQrCode(this.currentCode.toString());
        if (currentLocMast == null) {
            return null;
        }
        return currentLocMast.getLocNo();
    }

    public String getStatusErrorCode$() {
        BasShuttleErrService basShuttleErrService = SpringUtils.getBean(BasShuttleErrService.class);
        BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(this.statusErrorCode.intValue());
        if (basShuttleErr == null) {
            return this.statusErrorCode.toString();
        }
        return basShuttleErr.getErrName();
    }

    public void setCurrentCode(Short currentCode) {
        this.currentCode = currentCode;
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        if (locMastService != null) {
            LocMast locMast = locMastService.queryByQrCode(currentCode.toString());
            if (locMast == null) {
                //查不到库位号，查询是否为站点
                BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                if (basDevpService != null) {
                    BasDevp basDevp = basDevpService.queryByLocNo(currentCode.toString());
                    if (basDevp != null) {
                        this.locNo = basDevp.getLocNo();
                    }
                }
            }else{
                this.locNo = locMast.getLocNo();
            }
        }
    }

}