package com.zy.core.network.fake;

import com.alibaba.fastjson.JSON;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.DualCrnTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.network.api.ZyDualCrnConnectApi;
import com.zy.core.network.entity.ZyDualCrnStatusEntity;

import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;

public class ZyDualCrnFakeConnect implements ZyDualCrnConnectApi {

    private ZyDualCrnStatusEntity crnStatus;
    private DeviceConfig deviceConfig;
    private final ExecutorService executor = Executors.newSingleThreadExecutor();

    public ZyDualCrnFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
        this.crnStatus = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyDualCrnStatusEntity.class);
    }

    @Override
    public boolean connect() {
        return true;
    }

    @Override
    public boolean disconnect() {
        try { executor.shutdownNow(); } catch (Exception ignore) {}
        return true;
    }

    @Override
    public ZyDualCrnStatusEntity getStatus() {
        return this.crnStatus;
    }

    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == DualCrnTaskModeType.TRANSFER.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
            //取货
            executor.submit(() -> commandPick(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
            //放货
            executor.submit(() -> commandPut(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.CONFIRM.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
        response.setResult(true);
        return response;
    }

    private void commandTaskComplete(DualCrnCommand command) {
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(0);
            this.crnStatus.setStatus(CrnStatusType.IDLE.id);
        }else {
            this.crnStatus.setTaskNoTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.IDLE.id);
        }
    }

    private void commandMove(DualCrnCommand command) {
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.MOVING.id);
            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.MOVING.id);
            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void commandTake(DualCrnCommand command) {
        int sourcePosX = command.getSourcePosX().intValue();
        int sourcePosY = command.getSourcePosY().intValue();
        int sourcePosZ = command.getSourcePosZ().intValue();
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        this.crnStatus.setMode(taskMode);
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBay(), sourcePosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), sourcePosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }

            this.crnStatus.setLoaded(1);
            this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoaded(0);
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBayTwo(), sourcePosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), sourcePosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }

            this.crnStatus.setLoadedTwo(1);
            this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);
            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void commandPick(DualCrnCommand command) {
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        this.crnStatus.setMode(taskMode);
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoaded(1);
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(1);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void commandPut(DualCrnCommand command) {
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();

        this.crnStatus.setMode(taskMode);
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);

            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoaded(0);
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);

            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void moveZ(int sourcePosZ, int destinationPosZ, int station) {
        if(destinationPosZ - sourcePosZ > 0) {
            int moveLength = destinationPosZ - sourcePosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ++;
                if(station == 1) {
                    this.crnStatus.setLevel(initSourcePosZ);
                }else {
                    this.crnStatus.setLevelTwo(initSourcePosZ);
                }
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }else {
            int moveLength = sourcePosZ - destinationPosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ--;
                if(station == 1) {
                    this.crnStatus.setLevel(initSourcePosZ);
                }else {
                    this.crnStatus.setLevelTwo(initSourcePosZ);
                }
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }
    }

    private void moveY(int sourcePosY, int destinationPosY, int station) {
        if(destinationPosY - sourcePosY > 0) {
            int moveLength = destinationPosY - sourcePosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY++;
                if(station == 1) {
                    this.crnStatus.setBay(initSourcePosY);
                }else {
                    this.crnStatus.setBayTwo(initSourcePosY);
                }
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }else {
            int moveLength = sourcePosY - destinationPosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                if(station == 1) {
                    this.crnStatus.setBay(initSourcePosY);
                }else {
                    this.crnStatus.setBayTwo(initSourcePosY);
                }
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }
    }

    private void sleep(long ms) {
        try {
            Thread.sleep(ms);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }
    }
}