package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.planner.PlannerOrtoolsSolverService;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.StationOperateProcessUtils;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.TimeUnit;

@Service
public class PlannerServiceImpl implements PlannerService {

    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private PlannerOrtoolsSolverService plannerOrtoolsSolverService;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;

    @Override
    public JSONObject calculateAndSaveSchedule() {
        ArrayList<HashMap<String, Object>> crnDataList = new ArrayList<>();

        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().eq("status", 1));
        Map<Integer, StationObjModel> stationIndex = new HashMap<>();
        Map<Integer, String> stationCrnCodeIndex = new HashMap<>();
        
        Double bayWidth = getDoubleConfig("plannerBayWidthM", 1.0);
        Double levHeight = getDoubleConfig("plannerLevHeightM", 1.0);

        // First pass: Build station index
        for (BasCrnp basCrnp : basCrnps) {
            List<StationObjModel> inStations = basCrnp.getInStationList$();
            if (inStations != null) {
                for (StationObjModel stationObjModel : inStations) {
                    Integer sid = stationObjModel.getStationId();
                    if (sid != null) {
                        stationIndex.put(sid, stationObjModel);
                        stationCrnCodeIndex.put(sid, "CRN-" + basCrnp.getCrnNo());
                    }
                }
            }
            List<StationObjModel> outStations = basCrnp.getOutStationList$();
            if (outStations != null) {
                for (StationObjModel stationObjModel : outStations) {
                    Integer sid = stationObjModel.getStationId();
                    if (sid != null) {
                        stationIndex.put(sid, stationObjModel);
                    }
                }
            }
        }

        // Second pass: Build crane data
        for (BasCrnp basCrnp : basCrnps) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }

            HashMap<String, Object> crnData = new HashMap<>();
            crnData.put("code", "CRN-" + basCrnp.getCrnNo());
            crnData.put("name", basCrnp.getCrnNo());
            // 规划时使用额定速度，而非当前实时速度
            Double vx = getDoubleConfig("plannerVxDefault", 2.6);
            Double vy = getDoubleConfig("plannerVyDefault", 0.67);
            crnData.put("vx", vx);
            crnData.put("vy", vy);
            try {
                if (crnThread.getStatus() != null) {
                    Integer bay = crnThread.getStatus().getBay();
                    Integer lev = crnThread.getStatus().getLevel();
                    if (bay != null && lev != null) {
                        HashMap<String, Object> initPos = new HashMap<>();
                        initPos.put("x", bay * bayWidth);
                        initPos.put("y", lev * levHeight);
                        crnData.put("initPos", initPos);
                    }
                }
            } catch (Exception ignore) {}
            Integer pickSec = getIntConfig("plannerPickSec", 8);
            Integer dropSec = getIntConfig("plannerDropSec", 6);
            crnData.put("pickSec", pickSec);
            crnData.put("dropSec", dropSec);
            crnData.put("moveMode", "max");

            int readySec = 0;
            try {
                if (crnThread.getStatus() != null) {
                    CrnProtocol p = crnThread.getStatus();
                    Integer tNo = p.getTaskNo();
                    if (tNo != null && tNo > 0) {
                        WrkMast task = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", tNo));
                        if (task != null) {
                            // Calculate current X, Y
                            double curX = (p.getBay() == null ? 0 : p.getBay()) * bayWidth;
                            double curY = (p.getLevel() == null ? 0 : p.getLevel()) * levHeight;
                            
                            double targetX = curX;
                            double targetY = curY;
                            boolean hasGoods = (p.getLoaded() != null && p.getLoaded() == 1);
                            
                            if (hasGoods) {
                                // Moving to destination
                                if (task.getWrkSts() != null && task.getWrkSts() < 50) { // IN task
                                    // For IN task with goods, destination is Location
                                    if (task.getLocNo() != null) {
                                        LocMast loc = locMastService.queryByLoc(task.getLocNo());
                                        if (loc != null) {
                                            targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
                                            targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
                                        }
                                    }
                                } else { // OUT or LOC_MOVE
                                    if (task.getStaNo() != null) { // OUT task
                                        // For OUT task with goods, destination is Station
                                        StationObjModel s = stationIndex.get(task.getStaNo());
                                        if (s != null) {
                                            targetX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
                                            targetY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
                                        }
                                    } else if (task.getLocNo() != null) { // LOC_MOVE
                                        LocMast loc = locMastService.queryByLoc(task.getLocNo());
                                        if (loc != null) {
                                            targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
                                            targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
                                        }
                                    }
                                }
                            } else {
                                // Moving to source
                                if (task.getWrkSts() != null && task.getWrkSts() < 50) { // IN task
                                     StationObjModel s = stationIndex.get(task.getStaNo());
                                     if (s != null) {
                                        targetX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
                                        targetY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
                                     }
                                } else { // OUT or LOC_MOVE
                                    if (task.getSourceLocNo() != null) {
                                        LocMast loc = locMastService.queryByLoc(task.getSourceLocNo());
                                        if (loc != null) {
                                            targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
                                            targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
                                        }
                                    }
                                }
                            }
                            
                            double dx = Math.abs(targetX - curX);
                            double dy = Math.abs(targetY - curY);
                            double tx = vx <= 0 ? 0 : dx / vx;
                            double ty = vy <= 0 ? 0 : dy / vy;
                            double moveTime = Math.max(tx, ty);
                            
                            double total = moveTime;
                            if (hasGoods) {
                                total += dropSec;
                            } else {
                                total += pickSec; 
                                // Plus time to move to destination + drop
                                double srcX = targetX;
                                double srcY = targetY;
                                double dstX = srcX;
                                double dstY = srcY;
                                
                                if (task.getWrkSts() != null && task.getWrkSts() < 50) { // Inbound
                                    if (task.getLocNo() != null) {
                                        LocMast loc = locMastService.queryByLoc(task.getLocNo());
                                        if (loc != null) {
                                            dstX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
                                            dstY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
                                        }
                                    }
                                } else { // Outbound or LocMove
                                    if (task.getStaNo() != null) {
                                        StationObjModel s = stationIndex.get(task.getStaNo());
                                        if (s != null) {
                                            dstX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
                                            dstY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
                                        }
                                    } else if (task.getLocNo() != null) {
                                        LocMast loc = locMastService.queryByLoc(task.getLocNo());
                                        if (loc != null) {
                                            dstX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
                                            dstY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
                                        }
                                    }
                                }
                                
                                double d2x = Math.abs(dstX - srcX);
                                double d2y = Math.abs(dstY - srcY);
                                double t2x = vx <= 0 ? 0 : d2x / vx;
                                double t2y = vy <= 0 ? 0 : d2y / vy;
                                total += Math.max(t2x, t2y);
                                total += dropSec;
                            }
                            readySec = (int) Math.ceil(total);
                        }
                    }
                }
            } catch (Exception ignore) {}
            crnData.put("readySec", readySec);
            crnDataList.add(crnData);
        }

        ArrayList<HashMap<String, Object>> taskDataList = new ArrayList<>();
        List<WrkMast> outTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
        for (WrkMast wrkMast : outTasks) {
            HashMap<String, Object> t = new HashMap<>();
            t.put("taskId", wrkMast.getWrkNo());
            t.put("taskType", "OUT");
            t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
            if (wrkMast.getAppeTime() != null) {
                t.put("createTime", wrkMast.getAppeTime().getTime());
            }
            String src = wrkMast.getSourceLocNo();
            LocMast srcLoc = src == null ? null : locMastService.queryByLoc(src);
            int srcX = srcLoc == null ? 0 : (srcLoc.getBay1() == null ? 0 : srcLoc.getBay1());
            int srcY = srcLoc == null ? 0 : (srcLoc.getLev1() == null ? 0 : srcLoc.getLev1());
            HashMap<String, Object> fromPos = new HashMap<>();
            fromPos.put("x", srcX * bayWidth);
            fromPos.put("y", srcY * levHeight);
            t.put("fromPos", fromPos);
            Integer targetStationId = wrkMast.getStaNo();
            double toX = 0;
            double toY = 0;
            try {
                if (targetStationId != null) {
                    StationObjModel s = stationIndex.get(targetStationId);
                    if (s != null) {
                        toX = s.getDeviceBay() == null ? 0 : s.getDeviceBay();
                        toY = s.getDeviceLev() == null ? 0 : s.getDeviceLev();
                    }
                }
            } catch (Exception ignore) {}
            HashMap<String, Object> toPos = new HashMap<>();
            toPos.put("x", toX * bayWidth);
            toPos.put("y", toY * levHeight);
            t.put("toPos", toPos);
            ArrayList<String> eligible = new ArrayList<>();
            Integer crnNo = wrkMast.getCrnNo();
            if (crnNo != null && crnNo > 0) {
                eligible.add("CRN-" + crnNo);
            } else {
                try {
                    String locNo = src;
                    if (locNo != null) {
                        Integer row = com.zy.asrs.utils.Utils.getRow(locNo);
                        for (BasCrnp basCrnp : basCrnps) {
                            List<List<Integer>> controlRows = basCrnp.getControlRows$();
                            for (List<Integer> rows : controlRows) {
                                if (rows.contains(row)) {
                                    eligible.add("CRN-" + basCrnp.getCrnNo());
                                    break;
                                }
                            }
                        }
                    }
                } catch (Exception ignore) {}
            }
            t.put("eligibleCranes", eligible);
            t.put("conveyorPath", new ArrayList<>());
            t.put("outGroup", wrkMast.getBatch());
            t.put("outSeq", wrkMast.getBatchSeq());
            taskDataList.add(t);
        }

        List<WrkMast> moveTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
        for (WrkMast wrkMast : moveTasks) {
            HashMap<String, Object> t = new HashMap<>();
            t.put("taskId", wrkMast.getWrkNo());
            t.put("taskType", "MOVE");
            t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
            if (wrkMast.getAppeTime() != null) {
                t.put("createTime", wrkMast.getAppeTime().getTime());
            }
            
            String src = wrkMast.getSourceLocNo();
            LocMast srcLoc = src == null ? null : locMastService.queryByLoc(src);
            int srcX = srcLoc == null ? 0 : (srcLoc.getBay1() == null ? 0 : srcLoc.getBay1());
            int srcY = srcLoc == null ? 0 : (srcLoc.getLev1() == null ? 0 : srcLoc.getLev1());
            HashMap<String, Object> fromPos = new HashMap<>();
            fromPos.put("x", srcX * bayWidth);
            fromPos.put("y", srcY * levHeight);
            t.put("fromPos", fromPos);

            String dst = wrkMast.getLocNo();
            LocMast dstLoc = dst == null ? null : locMastService.queryByLoc(dst);
            int toX = dstLoc == null ? 0 : (dstLoc.getBay1() == null ? 0 : dstLoc.getBay1());
            int toY = dstLoc == null ? 0 : (dstLoc.getLev1() == null ? 0 : dstLoc.getLev1());
            HashMap<String, Object> toPos = new HashMap<>();
            toPos.put("x", toX * bayWidth);
            toPos.put("y", toY * levHeight);
            t.put("toPos", toPos);

            ArrayList<String> eligible = new ArrayList<>();
            Integer crnNo = wrkMast.getCrnNo();
            if (crnNo != null && crnNo > 0) {
                eligible.add("CRN-" + crnNo);
            } else {
                try {
                    String locNo = src;
                    if (locNo != null) {
                        Integer row = com.zy.asrs.utils.Utils.getRow(locNo);
                        for (BasCrnp basCrnp : basCrnps) {
                            List<List<Integer>> controlRows = basCrnp.getControlRows$();
                            for (List<Integer> rows : controlRows) {
                                if (rows.contains(row)) {
                                    eligible.add("CRN-" + basCrnp.getCrnNo());
                                    break;
                                }
                            }
                        }
                    }
                } catch (Exception ignore) {}
            }
            t.put("eligibleCranes", eligible);
            t.put("conveyorPath", new ArrayList<>());
            taskDataList.add(t);
        }

        List<WrkMast> inTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts));
        for (WrkMast wrkMast : inTasks) {
            HashMap<String, Object> t = new HashMap<>();
            t.put("taskId", wrkMast.getWrkNo());
            t.put("taskType", "IN");
            t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
            if (wrkMast.getAppeTime() != null) {
                t.put("createTime", wrkMast.getAppeTime().getTime());
            }
            Integer targetStationId = wrkMast.getStaNo();
            HashMap<String, Object> fromPos = new HashMap<>();
            String matchedCrnCode = null;
            boolean stationReady = false;
            if (targetStationId != null) {
                StationObjModel stationObjModel = stationIndex.get(targetStationId);
                if (stationObjModel != null) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                    if (stationThread != null) {
                        Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                        StationProtocol sp = statusMap == null ? null : statusMap.get(targetStationId);
                        if (sp != null && sp.isAutoing() && sp.isLoading() && sp.getTaskNo().equals(wrkMast.getWrkNo())) {
                            stationReady = true;
                            matchedCrnCode = stationCrnCodeIndex.get(targetStationId);
                            fromPos.put("x", stationObjModel.getDeviceBay() * bayWidth);
                            fromPos.put("y", stationObjModel.getDeviceLev() * levHeight);
                        }
                    }
                }
            }
            if (!stationReady) {
                continue;
            }
            t.put("fromPos", fromPos);
            HashMap<String, Object> toPos = new HashMap<>();
            String dst = wrkMast.getLocNo();
            LocMast dstLoc = dst == null ? null : locMastService.queryByLoc(dst);
            int toX = dstLoc == null ? 0 : (dstLoc.getBay1() == null ? 0 : dstLoc.getBay1());
            int toY = dstLoc == null ? 0 : (dstLoc.getLev1() == null ? 0 : dstLoc.getLev1());
            toPos.put("x", toX * bayWidth);
            toPos.put("y", toY * levHeight);
            t.put("toPos", toPos);
            ArrayList<String> eligible = new ArrayList<>();
            if (matchedCrnCode != null) {
                eligible.add(matchedCrnCode);
            }
            t.put("eligibleCranes", eligible);
            t.put("conveyorPath", new ArrayList<>());
            taskDataList.add(t);
        }

        //获取输送线任务数量
        int currentStationTaskCount = stationOperateProcessUtils.getCurrentStationTaskCount();

        HashMap<String, Object> config = new HashMap<>();
        config.put("outMinGapSec", getIntConfig("plannerOutMinGapSec", 0));
        config.put("wMakespan", getIntConfig("plannerWeightMakespan", 1000));
        config.put("wPriorityEarlyFinish", getIntConfig("plannerWeightPriorityEarlyFinish", 5));
        config.put("wWaitTime", getIntConfig("plannerWeightWaitTime", 1));
        config.put("wOutTardiness", getIntConfig("plannerOutTardiness", 0));
        config.put("enableOutDue", getBoolConfig("plannerEnableOutDue", false));
        config.put("maxSolveSeconds", getIntConfig("plannerMaxSolveSeconds", 3));
        config.put("numSearchWorkers", getIntConfig("plannerNumSearchWorkers", 8));
        config.put("conveyorStationTaskLimit", getIntConfig("conveyorStationTaskLimit", 30));
        config.put("conveyorStationRunningTasks", currentStationTaskCount);

        HashMap<String, Object> request = new HashMap<>();
        request.put("cranes", crnDataList);
        request.put("tasks", taskDataList);
        request.put("config", config);

        JSONObject result;
        boolean useInternal = getBoolConfig("plannerUseInternalSolver", true);
        if (useInternal) {
            try {
                result = plannerOrtoolsSolverService.solve(JSONObject.parseObject(JSON.toJSONString(request)));
            } catch (Throwable e) {
                News.error("内部求解器执行失败:{}", e.getMessage());
                result = null;
            }
        } else {
            Config uriCfg = configService.selectOne(new EntityWrapper<Config>().eq("code", "plannerSolverUri"));
            Config pathCfg = configService.selectOne(new EntityWrapper<Config>().eq("code", "plannerSolverPath"));
            if (uriCfg == null || pathCfg == null || uriCfg.getValue() == null || pathCfg.getValue() == null) {
                // 如果是服务调用，这里无法直接返回R.error，返回null或者empty json
                return null;
            }
            String solverUri = uriCfg.getValue();
            String solverPath = pathCfg.getValue();
            String response;
            try {
                HttpHandler http = new HttpHandler.Builder()
                        .setUri(solverUri)
                        .setPath(solverPath)
                        .setTimeout(30, TimeUnit.SECONDS)
                        .setJson(JSON.toJSONString(request))
                        .build();
                response = http.doPost();
            } catch (Exception e) {
                News.error("求解器调用失败:{}", e.getMessage());
                return null;
            }
            try {
                result = JSON.parseObject(response);
            } catch (Exception ignore) {
                return null;
            }
        }

        try {
            try {
                int nowSec = (int) (System.currentTimeMillis() / 1000);
                if (result != null && result.containsKey("schedule")) {
                    List<Object> schedule = result.getJSONArray("schedule");
                    if (schedule != null) {
                        Map<String, List<String>> groupByCrane = new HashMap<>();
                        for (Object obj : schedule) {
                            JSONObject item = (JSONObject) JSONObject.toJSON(obj);
                            String craneCode = item.getString("craneCode");
                            Integer taskId = item.getInteger("taskId");
                            String taskType = item.getString("taskType");
                            Integer startSec = item.getInteger("startSec");
                            Integer endSec = item.getInteger("endSec");
                            Integer outEtaSec = item.getInteger("outEtaSec");
                            if (craneCode == null || taskId == null || startSec == null) {
                                continue;
                            }
                            JSONObject store = new JSONObject();
                            store.put("taskId", taskId);
                            store.put("taskType", taskType);
                            store.put("startEpochSec", nowSec + startSec);
                            if (endSec != null) {
                                store.put("endEpochSec", nowSec + endSec);
                            }
                            if (outEtaSec != null) {
                                store.put("outEtaEpochSec", nowSec + outEtaSec);
                            }
                            groupByCrane.computeIfAbsent(craneCode, k -> new ArrayList<>()).add(store.toJSONString());
                        }
                        for (Map.Entry<String, List<String>> e : groupByCrane.entrySet()) {
                            String key = RedisKeyType.PLANNER_SCHEDULE.key + e.getKey();
                            redisUtil.del(key);
                            for (String s : e.getValue()) {
                                redisUtil.lSet(key, s);
                            }
                        }
                    }
                }
            } catch (Exception ignore) {}
            return result;
        } catch (Exception ignore) {
            return null;
        }
    }

    private Double getDoubleConfig(String code, Double def) {
        try {
            Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
            if (c != null && c.getValue() != null && c.getValue().trim().length() > 0) {
                return Double.parseDouble(c.getValue().trim());
            }
        } catch (Exception ignore) {}
        return def;
    }

    private Integer getIntConfig(String code, Integer def) {
        try {
            Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
            if (c != null && c.getValue() != null && c.getValue().trim().length() > 0) {
                String v = c.getValue().trim();
                if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
                return Integer.parseInt(v);
            }
        } catch (Exception ignore) {}
        return def;
    }

    private Boolean getBoolConfig(String code, Boolean def) {
        try {
            Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
            if (c != null && c.getValue() != null) {
                String v = c.getValue().trim().toUpperCase();
                if ("Y".equals(v) || "TRUE".equals(v)) return true;
                if ("N".equals(v) || "FALSE".equals(v)) return false;
            }
        } catch (Exception ignore) {}
        return def;
    }
}