package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * RGV线程
 */
@Data
@Slf4j
public class ZyRgvThread implements Runnable, RgvThread {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
    private boolean resetFlag1 = false;//工位1复位信号
    private boolean resetFlag2 = false;//工位2复位信号

    public ZyRgvThread(RgvSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short) 0);//源站
                        command.setDestinationStaNo1((short) 0);//目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short) 0);//源站
                        command.setDestinationStaNo2((short) 0);//目标站
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        write(command);
                        break;
                    //写入数据确认命令
                    case 4:
                        writeCommand((RgvCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
            }

        }
    }

    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));//RGV状态
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1工作号
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1有物
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//走行在定位
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 12));//工位2工作号
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2有物
                rgvProtocol.setTaskFinish1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位1任务完成
                rgvProtocol.setTaskFinish2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2任务完成
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));//异常码
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));//RGV心跳信号
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));//备用1
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));//备用2
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));//备用3
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));//备用4
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用5

                OperateResultExOne<byte[]> result2 = siemensNet.Read("DB100.0", (short) 22);
                if (result2.IsSuccess) {
                    rgvProtocol.setTaskMode1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1任务模式
                    rgvProtocol.setSourceStn1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1源站
                    rgvProtocol.setDestinationPos1(siemensNet.getByteTransform().TransInt16(result.Content, 8));//工位1目标站
                    rgvProtocol.setTaskMode2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2任务模式
                    rgvProtocol.setSourceStn2(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位2源站
                    rgvProtocol.setDestinationPos2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2目标站
                }

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish((short) 2);//工位1任务结束已接收
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }

                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish((short) 3);//工位2任务结束已接收
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setMode(rgvProtocol.getMode().intValue());
                    basRgv.setStatus(rgvProtocol.getStatus().intValue());
                    basRgv.setTaskNo1(rgvProtocol.getTaskNo1().intValue());
                    basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
                    basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
                    basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
                    basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
                    basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
                    basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
                    basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
                    basRgv.setHeart(rgvProtocol.getHeart().intValue());
                    basRgv.setTemp1(rgvProtocol.getTemp1().intValue());
                    basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
                    basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
                    basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
                    basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
                    if (!basRgvService.updateById(basRgv)){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){}

            } else {
                initRgv();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }

    /**
     * 写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }
        command.setRgvNo(slave.getId());
        OperateResult result = null;
        if (command.getTaskNo1() > 0 && command.getTaskNo2() == 0) {
            //只有工位1存在任务且任务没有被确认，工位1开始计时
            if (command.getCommand() == 0) {
                rgvProtocol.setTask1SendTime(System.currentTimeMillis());
            }
            short[] array = new short[10];
            array[0] = command.getAckFinish(); // 任务完成确认位
            array[1] = command.getTaskNo1();  // 工位1任务号
            array[2] = command.getTaskMode1();  // 工位1模式
            array[3] = command.getSourceStaNo1(); // 工位1源站
            array[4] = command.getDestinationStaNo1(); // 工位1目标站
            array[5] = 0; // 工位2任务号
            array[6] = 0;  // 工位2模式
            array[7] = 0; // 工位2源站
            array[8] = 0; // 工位2目标站
            array[9] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.0", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        } else if (command.getTaskNo2() > 0 && command.getTaskNo1() == 0) {
            //只有工位2存在任务
            short[] array = new short[5];
            array[0] = command.getTaskNo2(); // 工位2任务号
            array[1] = command.getTaskMode2();  // 工位2模式
            array[2] = command.getSourceStaNo2(); // 工位2源站
            array[3] = command.getDestinationStaNo2(); // 工位2目标站
            array[4] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.12", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        }else {
            //工位1和工位2任务
            short[] array = new short[10];
            array[0] = command.getAckFinish(); // 任务完成确认位
            array[1] = command.getTaskNo1();  // 工位1任务号
            array[2] = command.getTaskMode1();  // 工位1模式
            array[3] = command.getSourceStaNo1(); // 工位1源站
            array[4] = command.getDestinationStaNo1(); // 工位1目标站
            array[5] = command.getTaskNo2(); // 工位2任务号
            array[6] = command.getTaskMode2();  // 工位2模式
            array[7] = command.getSourceStaNo2(); // 工位2源站
            array[8] = command.getDestinationStaNo2(); // 工位2目标站
            array[9] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.0", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        }

        if (command.getCommand() == 1) {
            //任务被确认
            rgvProtocol.setTask1SendTime(0L);//重置工位1下发时间
        }

        if(!result.IsSuccess){
            log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            Date now = new Date();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getRgvNo(),    // RGV[非空]
                    command.getAckFinish().intValue(),    // 任务完成确认位
                    command.getTaskNo1().intValue(),    // 任务号
                    command.getTaskMode1().intValue(),    // 模式
                    command.getSourceStaNo1().intValue(),    // 源站
                    command.getDestinationStaNo1().intValue(),    // 目标站
                    command.getTaskNo2().intValue(),    // 任务号
                    command.getTaskMode2().intValue(),    // 模式
                    command.getSourceStaNo2().intValue(),    // 源站
                    command.getDestinationStaNo2().intValue(),    // 目标站
                    command.getCommand().intValue(),
                    now,    // 下发时间
                    null, // 下发人员
                    now,    // 修改时间
                    null,    // 修改人员
                    null //响应
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 写入数据确认命令
     */
    private boolean writeCommand(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[1];
        array[0] = command.getCommand();// 任务确认位
        OperateResult result = siemensNet.Write("DB100.20", array);
        log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);

        if(!result.IsSuccess){
            log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            Date now = new Date();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getRgvNo(),    // RGV[非空]
                    command.getAckFinish().intValue(),    // 任务完成确认位
                    command.getTaskNo1().intValue(),    // 任务号
                    command.getTaskMode1().intValue(),    // 模式
                    command.getSourceStaNo1().intValue(),    // 源站
                    command.getDestinationStaNo1().intValue(),    // 目标站
                    command.getTaskNo2().intValue(),    // 任务号
                    command.getTaskMode2().intValue(),    // 模式
                    command.getSourceStaNo2().intValue(),    // 源站
                    command.getDestinationStaNo2().intValue(),    // 目标站
                    command.getCommand().intValue(),
                    now,    // 下发时间
                    null, // 下发人员
                    now,    // 修改时间
                    null,    // 修改人员
                    null //响应
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) 0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 1);
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
    }
}