package com.zy.asrs.controller;

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.asrs.service.WrkMastService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.protocol.LiftProtocol;
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 WrkMastService wrkMastService;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            if (liftThread == null) {
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null || liftProtocol.getLiftNo()==null) {
                continue;
            }
            vo.setTaskNo(liftProtocol.getTaskNo());  //  任务号
            vo.setProtocolStatus(liftProtocol.getProtocolStatusType().desc);
            vo.setLiftLock(liftProtocol.getLiftLock());
            vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback());
            vo.setReady(liftProtocol.getReady());
            vo.setRunning(liftProtocol.getRunning());
            vo.setMode(liftProtocol.getMode());
            vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
            vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
            vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
            vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
            vo.setNotReady(liftProtocol.getNotReady());
            vo.setServoError1(liftProtocol.getServoError1());
            vo.setServoError2(liftProtocol.getServoError2());
            vo.setServoError3(liftProtocol.getServoError3());
            vo.setServoError4(liftProtocol.getServoError4());
            vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed());
            vo.setPakMk(liftProtocol.getPakMk());
        }
        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<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            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.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
        }
        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");
                }

                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 提升机编号
                assignCommand.setTaskNo((short) 9999);
                assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
                assignCommand.setAuto(false);//手动模式

                if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return R.error();
    }

}