package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.utils.Utils;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;
import java.util.Map;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private BasRgvServiceImpl basRgvService;
    @Autowired
    private BasDevpPositionService basDevpPositionService;
    @Autowired
    private BasCircularShuttleService basCircularShuttleService;
    /**
     * 站点任务检测  下发小车取放任务
     */
    public synchronized void updateStePosition() {
        try{
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("ste_id", true));
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getSteNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.SOS1001) ){

                } else {
                    break;
                }
            }
        } catch (Exception e){

        }
    }
    /**
     * 站点任务检测  下发小车取放任务
     */
    public synchronized void DevpTaskNoRun() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta sta : devp.getInSta()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
            }
        }
    }

    public synchronized void loopSteCharge() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
            try {
                // 在线 空闲   无作业标记   不在充电
                if (rgvProtocol.getMode() == 0
                        || !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
                        || basRgv.getPakMk().equals("Y")
//                        || steProtocol.getChargeStatus() == 1
                ) {
                    continue;
                }
            } catch (Exception e) {
                News.error("fail", e);
            }
        }
    }
}