package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.param.DualCrnCommandParam;
import com.zy.asrs.domain.vo.DualCrnStateTableVo;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.thread.DualCrnThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RestController;

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

@Slf4j
@RestController
public class DualCrnController {

    @Autowired
    private BasDualCrnpService basDualCrnpService;

    @PostMapping("/dualcrn/table/crn/state")
    @ManagerAuth(memo = "双工位堆垛机信息表")
    public R dualCrnStateTable() {
        List<DualCrnStateTableVo> list = new ArrayList<>();
        List<BasDualCrnp> crnps = basDualCrnpService.selectList(new EntityWrapper<BasDualCrnp>().orderBy("crn_no"));
        for (BasDualCrnp basDualCrnp : crnps) {
            DualCrnStateTableVo vo = new DualCrnStateTableVo();
            vo.setCrnNo(basDualCrnp.getCrnNo());
            list.add(vo);
            DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            DualCrnProtocol p = crnThread.getStatus();
            if (p == null) {
                continue;
            }
            vo.setTaskNo(p.getTaskNo());
            vo.setTaskNoTwo(p.getTaskNoTwo());
            vo.setMode(p.getModeType() == null ? "-" : p.getModeType().desc);
            vo.setStatus(p.getStatusType() == null ? "-" : p.getStatusType().desc);
            vo.setStatusTwo(p.getStatusTypeTwo() == null ? "-" : p.getStatusTypeTwo().desc);
            vo.setLoading(p.getLoaded() != null && p.getLoaded() == 1 ? "有物" : "无物");
            vo.setLoadingTwo(p.getLoadedTwo() != null && p.getLoadedTwo() == 1 ? "有物" : "无物");
            vo.setBay(p.getBay());
            vo.setBayTwo(p.getBayTwo());
            vo.setLev(p.getLevel());
            vo.setLevTwo(p.getLevelTwo());
            vo.setForkOffset(p.getForkPosType() == null ? "-" : p.getForkPosType().desc);
            vo.setForkOffsetTwo(p.getForkPosTypeTwo() == null ? "-" : p.getForkPosTypeTwo().desc);
            vo.setLiftPos(p.getLiftPosType() == null ? "-" : p.getLiftPosType().desc);
            vo.setLiftPosTwo(p.getLiftPosTypeTwo() == null ? "-" : p.getLiftPosTypeTwo().desc);
            vo.setWalkPos(p.getWalkPos() != null && p.getWalkPos() == 0 ? "在定位" : "不在定位");
            vo.setWalkPosTwo(p.getWalkPosTwo() != null && p.getWalkPosTwo() == 0 ? "在定位" : "不在定位");
            vo.setTaskReceive(p.getTaskReceive() != null && p.getTaskReceive() == 1 ? "接收" : "无任务");
            vo.setTaskReceiveTwo(p.getTaskReceiveTwo() != null && p.getTaskReceiveTwo() == 1 ? "接收" : "无任务");
            vo.setXspeed(p.getXSpeed());
            vo.setYspeed(p.getYSpeed());
            vo.setZspeed(p.getZSpeed());
            vo.setXdistance(p.getXDistance());
            vo.setYdistance(p.getYDistance());
            vo.setXduration(p.getXDuration());
            vo.setYduration(p.getYDuration());
            vo.setWarnCode(p.getAlarm() == null ? "-" : String.valueOf(p.getAlarm()));
            if (p.getAlarm() != null && p.getAlarm() > 0) {
                vo.setDeviceStatus("ERROR");
            } else if (p.getTaskNo() != null && p.getTaskNo() > 0 || p.getTaskNoTwo() != null && p.getTaskNoTwo() > 0) {
                vo.setDeviceStatus("WORKING");
            } else if (p.getModeType() != null && "AUTO".equals(p.getModeType().name())) {
                vo.setDeviceStatus("AUTO");
            } else {
                vo.setDeviceStatus("OFFLINE");
            }
        }
        return R.ok().add(list);
    }

    @PostMapping("/dualcrn/command/take")
    @ManagerAuth(memo = "双工位堆垛机取放货命令")
    public R dualCrnCommandTake(@RequestBody DualCrnCommandParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }
        Integer crnNo = param.getCrnNo();
        String sourceLocNo = param.getSourceLocNo();
        String targetLocNo = param.getTargetLocNo();
        Integer station = param.getStation();
        DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }
        DualCrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo, station);
        MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
        return R.ok();
    }

    @PostMapping("/dualcrn/command/pick")
    @ManagerAuth(memo = "双工位堆垛机取货命令")
    public R dualCrnCommandPick(@RequestBody DualCrnCommandParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }
        Integer crnNo = param.getCrnNo();
        String targetLocNo = param.getTargetLocNo();
        Integer station = param.getStation();
        DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }
        DualCrnCommand command = crnThread.getPickCommand(targetLocNo, 9999, crnNo, station);
        MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
        return R.ok();
    }

    @PostMapping("/dualcrn/command/put")
    @ManagerAuth(memo = "双工位堆垛机放货命令")
    public R dualCrnCommandPut(@RequestBody DualCrnCommandParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }
        Integer crnNo = param.getCrnNo();
        String targetLocNo = param.getTargetLocNo();
        Integer station = param.getStation();
        DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }
        DualCrnCommand command = crnThread.getPutCommand(targetLocNo, 9999, crnNo, station);
        MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
        return R.ok();
    }
    

    @PostMapping("/dualcrn/command/move")
    @ManagerAuth(memo = "双工位堆垛机移动命令")
    public R dualCrnCommandMove(@RequestBody DualCrnCommandParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }
        Integer crnNo = param.getCrnNo();
        String targetLocNo = param.getTargetLocNo();
        Integer station = param.getStation();
        DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }
        DualCrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
        if (station != null) {
            command.setStation(station.shortValue());
        }
        MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
        return R.ok();
    }

    @PostMapping("/dualcrn/command/taskComplete")
    @ManagerAuth(memo = "双工位堆垛机任务完成确认")
    public R dualCrnCommandTaskComplete(@RequestBody DualCrnCommandParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }
        Integer crnNo = param.getCrnNo();
        Integer station = param.getStation();
        DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }
        DualCrnCommand command = crnThread.getResetCommand(crnNo, station);
        MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
        return R.ok();
    }
}