package com.zy.common.utils;

import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Map;

import com.zy.core.News;
import org.springframework.stereotype.Component;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;

@Component
public class NavigateUtils {

    public synchronized List<NavigateNode> calcByStationId(int lev, Integer startStationId, Integer endStationId) {
        NavigateSolution navigateSolution = new NavigateSolution();
        List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);

        NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
        if (startNode == null){
            throw new CoolException("未找到该 起点 对应的节点");
        }

        NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
        if (endNode == null){
            throw new CoolException("未找到该 终点 对应的节点");
        }

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
        if (allList.isEmpty()) {
            throw new CoolException("未找到该路径");
        }
        News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);

        if (allList.size() > 1) {
            System.out.println(JSON.toJSONString(allList));
        }

        News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
        List<NavigateNode> list = findStationBestPath(allList);
        News.info("[WCS Debug] 站点路径权重分析结束,startStationId={},endStationId={}", startStationId, endStationId);

        //去重
        HashSet<Integer> set = new HashSet<>();
        List<NavigateNode> fitlerList = new ArrayList<>();
        for(NavigateNode navigateNode : list){
            JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
            if(set.add(valuObject.getInteger("stationId"))){
                fitlerList.add(navigateNode);
            }
        }

        return fitlerList;
    }

    public synchronized List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
        NavigateSolution navigateSolution = new NavigateSolution();
        List<List<NavigateNode>> rgvTrackMap = navigateSolution.getRgvTrackMap(lev);

        NavigateNode startNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, startTrackSiteNo);
        if (startNode == null){
            throw new CoolException("未找到该 起点 对应的节点");
        }

        NavigateNode endNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, endTrackSiteNo);
        if (endNode == null){
            throw new CoolException("未找到该 终点 对应的节点");
        }

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] RGV路径开始计算,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
        NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
        if (res_node == null) {
            throw new CoolException("未找到该路径");
        }
        News.info("[WCS Debug] RGV路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);

        ArrayList<NavigateNode> list = new ArrayList<>();
        // 使用 visited 集合防止父链出现环导致死循环，同时设置安全步数上限
        HashSet<NavigateNode> visited = new HashSet<>();
        int maxSteps = rgvTrackMap.size() * rgvTrackMap.get(0).size() + 5; // 安全上限
        int steps = 0;
        while (res_node != null && visited.add(res_node) && steps++ < maxSteps) {
            list.add(res_node);
            res_node = res_node.getFather();//迭代操作
        }
        if (steps >= maxSteps) {
            throw new CoolException("路径回溯超出安全上限，疑似存在父链循环");
        }
        Collections.reverse(list);
        //将每个节点里面的fatherNode至为null(方便后续计算时父节点过多导致显示的节点太多)
        for (NavigateNode navigateNode : list) {
            //父节点设置为null，不影响计算结果，不影响后续操作。
            //此操作仅为后续排查处理提供视觉方便。
            navigateNode.setFather(null);
        }

        //去重
        HashSet<Integer> set = new HashSet<>();
        List<NavigateNode> fitlerList = new ArrayList<>();
        for(NavigateNode navigateNode : list){
            JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
            if(set.add(valuObject.getInteger("trackSiteNo"))){
                fitlerList.add(navigateNode);
            }
        }

        return fitlerList;
    }

    public synchronized List<NavigateNode> findLiftStationList(int lev) {
        NavigateSolution navigateSolution = new NavigateSolution();
        List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);

        List<NavigateNode> liftStationList = new ArrayList<>();
        for (List<NavigateNode> navigateNodes : stationMap) {
            for (NavigateNode navigateNode : navigateNodes) {
                String nodeType = navigateNode.getNodeType();
                if(nodeType == null){
                    continue;
                }
                if(!nodeType.equals("devp")){
                    continue;
                }
                JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
                if(valuObject == null){
                    continue;
                }
                if (valuObject.containsKey("liftNo")) {
                    liftStationList.add(navigateNode);
                }
            }
        }

        return liftStationList;
    }

    public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }

        Map<Integer, StationProtocol> statusMap = new HashMap<>();
        try {
            DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
            if (deviceConfigService != null) {
                List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                        .eq("device_type", String.valueOf(SlaveType.Devp)));
                for (DeviceConfig deviceConfig : devpList) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
                    if (stationThread == null) {
                        continue;
                    }
                    Map<Integer, StationProtocol> m = stationThread.getStatusMap();
                    if (m != null && !m.isEmpty()) {
                        statusMap.putAll(m);
                    }
                }
            }
        } catch (Exception ignore) {}

        List<List<NavigateNode>> candidates = new ArrayList<>();
        List<Integer> lens = new ArrayList<>();
        List<Integer> tasksList = new ArrayList<>();
        List<Double> congs = new ArrayList<>();

        for (List<NavigateNode> path : allList) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            int len = path.size();
            int tasks = 0;
            HashSet<Integer> stationIdSet = new HashSet<>();
            for (NavigateNode node : path) {
                JSONObject value = null;
                try {
                    value = JSON.parseObject(node.getNodeValue());
                } catch (Exception ignore) {}
                if (value == null) {
                    continue;
                }
                Integer stationId = value.getInteger("stationId");
                if (stationId == null) {
                    continue;
                }
                if (!stationIdSet.add(stationId)) {
                    continue;
                }
                StationProtocol protocol = statusMap.get(stationId);
                if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
                    tasks++;
                }
            }
            double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
            candidates.add(path);
            lens.add(len);
            tasksList.add(tasks);
            congs.add(cong);
        }

        if (candidates.isEmpty()) {
            return allList.get(0);
        }

        int minLen = Integer.MAX_VALUE;
        int maxLen = Integer.MIN_VALUE;
        double minCong = Double.MAX_VALUE;
        double maxCong = -Double.MAX_VALUE;
        for (int i = 0; i < candidates.size(); i++) {
            int l = lens.get(i);
            double c = congs.get(i);
            if (l < minLen) minLen = l;
            if (l > maxLen) maxLen = l;
            if (c < minCong) minCong = c;
            if (c > maxCong) maxCong = c;
        }

        //长度权重百分比
        double lenWeightPercent = 50.0;
        //拥堵权重百分比
        double congWeightPercent = 50.0;
        try {
            ConfigService configService = SpringUtils.getBean(ConfigService.class);
            if (configService != null) {
                Config cfgLen = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
                if (cfgLen != null && cfgLen.getValue() != null) {
                    String v = cfgLen.getValue().trim();
                    if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
                    try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
                }
                Config cfgCong = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
                if (cfgCong != null && cfgCong.getValue() != null) {
                    String v = cfgCong.getValue().trim();
                    if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
                    try { congWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
                }
            }
        } catch (Exception ignore) {}

        double weightSum = lenWeightPercent + congWeightPercent;
        double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
        double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;

        List<NavigateNode> best = null;
        double bestCost = Double.MAX_VALUE;
        int bestTasks = Integer.MAX_VALUE;
        int bestLen = Integer.MAX_VALUE;
        for (int i = 0; i < candidates.size(); i++) {
            int l = lens.get(i);
            int t = tasksList.get(i);
            double c = congs.get(i);
            //归一化
            double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
            double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
            //获取权重
            double cost = lenNorm * lenW + congNorm * congW;
            if (cost < bestCost
                    || (cost == bestCost && t < bestTasks)
                    || (cost == bestCost && t == bestTasks && l < bestLen)) {
                best = candidates.get(i);
                bestCost = cost;
                bestTasks = t;
                bestLen = l;
            }
        }

        if (best == null) {
            return allList.get(0);
        }
        return best;
    }
}