package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.AppAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.lang.reflect.Field;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

@Slf4j
@RestController
@RequestMapping("/open")
public class OpenController extends BaseController {

    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    private static final boolean auth = true;
    @Autowired
    private OpenService openService;
    @Autowired
    private TaskWrkService taskWrkService;
    @Autowired
    private CommandInfoService commandInfoService;
    @Autowired
    private TaskWrkController taskWrkController;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnErrorService basCrnErrorService;
    @Value("${wms.url}")
    private String wmsUrl;

    public static <T> List<T> convertListMapToListObject(List<HashMap<String, Object>> listMap, Class<T> clazz) throws Exception {
        List<T> list = new ArrayList<>();

        for (Map<String, Object> map : listMap) {
            T obj = clazz.getDeclaredConstructor().newInstance();

            for (Map.Entry<String, Object> entry : map.entrySet()) {
                String key = entry.getKey();
                Object value = entry.getValue();

                try {
                    Field field = clazz.getDeclaredField(key);
                    field.setAccessible(true);
                    setFieldValue(obj, field, value);
                } catch (NoSuchFieldException e) {
                    System.out.println("No such field: " + key + " in class " + clazz.getName());
                }
            }

            list.add(obj);
        }

        return list;
    }

    private static void setFieldValue(Object obj, Field field, Object value) throws IllegalAccessException {
        Class<?> fieldType = field.getType();

        if (fieldType.isAssignableFrom(value.getClass())) {
            field.set(obj, value);
        } else if (fieldType == int.class || fieldType == Integer.class) {
            field.set(obj, ((Number) value).intValue());
        } else if (fieldType == long.class || fieldType == Long.class) {
            field.set(obj, ((Number) value).longValue());
        } else if (fieldType == double.class || fieldType == Double.class) {
            field.set(obj, ((Number) value).doubleValue());
        } else if (fieldType == float.class || fieldType == Float.class) {
            field.set(obj, ((Number) value).floatValue());
        } else if (fieldType == boolean.class || fieldType == Boolean.class) {
            field.set(obj, (Boolean) value);
        } else if (fieldType == String.class) {
            field.set(obj, String.valueOf(value));
        } else {
            System.out.println("Unsupported field type: " + fieldType.getName());
        }
    }

    //agv任务完成
    @PostMapping("/toAgvTaskOver")
    @AppAuth(memo = "agv任务完成接口")
    public R getAgvTaskOver(@RequestHeader String appkey,
                            @RequestBody TaskOverParam param,
                            HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getWharfCode())) {
            return R.error("码头[wharfCode]不能为空");
        }
        if (Cools.isEmpty(param.getStatus())) {
            return R.error("完成标记[status]不能为空");
        }
        openService.getAgvTaskOver(param);
        return R.ok();
    }

    //创建任务
    @PostMapping("/taskCreate")
    @Transactional
    public R taskCreate(@RequestHeader String appkey,
                        @RequestBody List<TaskCreateParam> param1,
                        HttpServletRequest request) {
        auth(appkey, param1, request);
        try {
            List<TaskCreateParam> paramList = new ArrayList<>();
            List<String> locNoList = new ArrayList<>();
            for (TaskCreateParam param : param1) {
                if (Cools.isEmpty(param)) {
                    return R.parse(BaseRes.PARAM);
                }
                if (Cools.isEmpty(param.getTaskNo())) {
                    return R.error("任务号[taskNo]不能为空");
                }
                if (Cools.isEmpty(param.getIoType())) {
                    return R.error("任务类型[ioType]不能为空");
                }
                if (Cools.isEmpty(param.getBarcode())) {
                    return R.error("条码[barcode]不能为空");
                }
                String locNo = null;
                if (param.getIoType() == 1) {
                    locNo = param.getTargetPoint();
                } else {
                    locNo = param.getStartPoint();
                }
                try {
                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                            .eq("loc_no", locNo).ne("loc_sts", "X"));
                    if (Cools.isEmpty(locMast)) {
                        log.error("库位号不存在" + locNo);
                        return R.error("库位号不存在" + locNo).add("库位号不存在" + locNo);
                    }
                } catch (Exception e) {
                    log.error("库位号检测程序异常==》异常信息" + e);
                    return R.error("库位号检测程序异常").add("库位号检测程序异常==》异常信息" + e);
                }
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "F")
                        .eq("loc_no", locNo)
                        .eq("barcode", param.getBarcode()));
                if (Cools.isEmpty(locMast)) {
                    return R.error("该库位不满足出库条件" + param.getTargetPoint());
                }
                if (!locNoList.contains(locMast.getLocNo())) {
                    locNoList.add(locMast.getLocNo());
                    paramList.add(param);
                } else {
                    return R.error("该库位不能同时下发两笔任务" + locMast.getLocNo());
                }
            }
            for (TaskCreateParam param : paramList) {
                openService.taskCreate(param);
            }
        } catch (Exception e) {
            log.error("任务下发异常" + e);
            return R.error();
        }
        return R.ok();
    }

    //查询任务详情
    @GetMapping("/queryTask")
    public R queryTask(@RequestHeader String appkey,
                       @RequestParam String taskNo,
                       HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
        }
        return R.ok().add(taskWrk);
    }

    //取放货申请
    @PostMapping("/pick/and/place/v1")
    @AppAuth(memo = "agv取放货申请")
    public R getAgvPickAndPlaceV1(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStaNo())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV1(param);
    }

    //取放货完成反馈
    @PostMapping("/pick/and/place/v2")
    @AppAuth(memo = "agv取放货完成反馈")
    public R getAgvPickAndPlaceV2(@RequestHeader String appkey,
                                  @RequestBody TaskOverParam param,
                                  HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        if (Cools.isEmpty(param.getStaNo())) {
            return R.error("码头[staNo]不能为空");
        }
        if (Cools.isEmpty(param.getType())) {
            return R.error("类型[type]不能为空");
        }
        return openService.getAgvPickAndPlaceV2(param);
    }

    //查询任务指令集合
    @GetMapping("/queryTaskCommand")
    public R queryTaskCommand(@RequestHeader String appkey,
                              @RequestParam String taskNo,
                              HttpServletRequest request) {
        auth(appkey, taskNo, request);
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (taskWrk == null) {
            return R.error("任务不存在");
        }

        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskNo);
        return R.ok().add(commandInfos);
    }

    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", request.getServletPath(), appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
        if (Cools.isEmpty(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
        if (!APP_KEY_LIST.contains(appkey)) {
            throw new CoolException("认证失败，请确认appkey无误！");
        }
    }

    //AGV请求入库码头接口
    @PostMapping("/targetWharfApply")
    @AppAuth(memo = "AGV请求入库码头接口")
    public R targetWharfApply(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) throws IOException {
        auth(appkey, param, request);

        if (Cools.isEmpty(param)) {
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())) {
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getContainerCode())) {
            return R.error("托盘编码为空！");
        } else if (Cools.isEmpty(param.getWharfSource())) {
            return R.error("源码头为空！");
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size() == 0) {
            return R.error("空闲的入库码头（AGV）为空！");
        }
        R r = openService.AgvToWCSToWms(param);
        apiLogService.save("AGV请求入库码头接口"
                , request.getRemoteAddr() + request.getRequestURI()
                , appkey
                , request.getRemoteAddr()
                , JSON.toJSONString(param)
                , r.toString()
                , true
        );
        return r;
    }

    //AGV请求动作接口
    @PostMapping("/agvTaskRequest")
    @AppAuth(memo = "AGV请求动作接口")
    public R agvTaskRequest(@RequestHeader String appkey,
                            @RequestBody WMSAndAGVInterfaceParam param,
                            HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getRequestType())) {
            return R.error("请求类型为空！");
        } else if (Cools.isEmpty(param.getWharfCode())) {
            return R.error("码头编号为空！");
        }

        Map<String, Integer> map = new HashMap<>();
        map.put("J-1102", 102);
        map.put("J-1101", 101);
        map.put("J-1103", 105);
        map.put("J-1104", 106);
        map.put("J-1105", 109);
        map.put("J-1106", 110);
        map.put("J-1107", 113);
        map.put("J-1108", 114);
        map.put("J-1109", 117);
        map.put("J-1110", 118);
        map.put("J-1111", 121);
        map.put("J-1112", 122);
        map.put("H-1102", 300);
        map.put("H-1101", 305);
        map.put("G-1102", 400);
        map.put("G-1101", 405);
//        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                .eq("stn_desc", param.getWharfCode()));
//
//        if (Cools.isEmpty(staDesc)){
//            return R.error("程序报错，未查询到站点");
//        }
        if (Cools.isEmpty(map.get(param.getWharfCode()))) {
            return R.error("未查询到站点");
        }
        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))) {
            apiLogService.save("AGV请求入库码头接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , appkey
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , R.ok().toString()
                    , true
            );
            return R.ok("可入");
        } else {
            apiLogService.save("AGV请求入库码头接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , appkey
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , R.error("站点状态不可入").toString()
                    , true
            );
            return R.error("站点状态不可入");
        }


    }

    //任务下发接口
    @PostMapping("/outboundTaskSend")
    @Transactional
    public HashMap<String, Object> outboundTaskSend(@RequestBody HashMap<String, Object> hashMap) {
        String jsonString = JSON.toJSONString(hashMap.get("TaskList"));
        List<CarryParam> params = JSONObject.parseArray(jsonString, CarryParam.class);
        HashMap<String, Object> map = new HashMap<>();
        List<WMSAndAGVInterfaceParam> params1 = new ArrayList<>();
        for (CarryParam param : params) {
            if (Cools.isEmpty(param)) {
                map.put("Code", "0");
                map.put("Msg", "参数为空！");
                return map;
            } else if (Cools.isEmpty(param.getTaskNo())) {
                map.put("Code", "0");
                map.put("Msg", "任务号为空！");
                return map;
            } else if (Cools.isEmpty(param.getStereoscopicTaskType())) {
                map.put("Code", "0");
                map.put("Msg", "任务类型为空！");
                return map;
            }
            String fusion = Utils.Fusion(param.getOriginalRowNo(), param.getOriginalFloorNo(), param.getOriginalColumnNo());
            param.setStartPoint(fusion);
            LocMast locMast = locMastService.selectByLocNo(param.getStartPoint());
            if (Cools.isEmpty(locMast)) {
                map.put("Code", "0");
                map.put("Msg", "初始库位无法找到！");
                return map;
            }

            HashMap<String, Object> r = new HashMap<>();

            if (param.getStereoscopicTaskType() == 2) {
                //出库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no", 2)
                        .eq("crn_no", locMast.getCrnNo())
                        .eq("stn_no", param.getTerminalNo()));
                if (Cools.isEmpty(staDesc)) {
                    map.put("Code", "0");
                    map.put("Msg", "出库路劲不存在！");
                    return map;
                }
                r = openService.taskCreate(new TaskCreateParam(param, staDesc.getCrnNo()));
                if (r.get("Code").equals("0")) {
                    return r;
                }
            } else if (param.getStereoscopicTaskType() == 3) {
                String fusion1 = Utils.Fusion(param.getGoalRowNo(), param.getGoalFloorNo(), param.getGoalColumnNo());
                param.setTerminalNo(fusion1);
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param, locMast.getCrnNo()));
                if (r.get("Code").equals("0")) {
                    return r;
                }
            }
            apiLogService.save("Wms任务下发接口"
                    , request.getRemoteAddr() + request.getRequestURI()
                    , ""
                    , request.getRemoteAddr()
                    , JSON.toJSONString(param)
                    , r.toString()
                    , true
            );
        }
        map.put("Code", "1");
        map.put("Msg", "ok");
        return map;
    }

    //任务取消接口
    @PostMapping("/taskCancel")
    public R taskCancel(@RequestHeader String appkey,
                        @RequestBody WMSAndAGVInterfaceParam param,
                        HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)) {
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())) {
            return R.error("工作号为空！");
        } else if (Cools.isEmpty(param.getIoType())) {
            return R.error("操作类型为空！");
        } else if (Cools.isEmpty(param.getBarcode())) {
            return R.error("托盘码不能为空！");
        }

        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>()
                .eq("task_no", param.getTaskNo())
                .eq("io_type", param.getIoType())
                .eq("barcode", param.getBarcode()));
        if (Cools.isEmpty(taskWrk)) {
            return R.error("未查到当前任务---" + param);
        }
        boolean sign = false;
        switch (param.getTaskStatus()) {
            case 1://正常取消
                if (taskWrk.getStatus() > 1) {
                    return R.error("任务已开始执行");
                }
                break;
            case 2://正常完成
                if (taskWrk.getStatus() > 1) {
                    return R.error("任务已开始执行");
                }
                sign = true;
                break;
            default:
                return R.error("未知操作");
        }
        return taskWrkOperate(taskWrk, sign);
    }

    //任务操作
    private R taskWrkOperate(TaskWrk taskWrk, boolean sign) {
        try {
            if (sign) {//完成
                return taskWrkController.complete(taskWrk.getTaskNo());
            } else {//取消
                return taskWrkController.cancel(taskWrk.getTaskNo());
            }
        } catch (Exception e) {
            return R.error();
        }
    }

    //设备状态查询接口
    @GetMapping("/deviceStatus")
    @Transactional
    public R deviceStatus() {
        List<CrnStatusParam> crnStatusParams = new ArrayList<>();
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            CrnStatusParam crnStatusParam = new CrnStatusParam();
            crnStatusParam.setCrnNo(basCrnp.getCrnNo());
            crnStatusParam.setCrnSts(basCrnp.getCrnSts());
            crnStatusParam.setErrorCode(basCrnp.getCrnErr());
            BasCrnError error = basCrnErrorService.selectOne(new EntityWrapper<BasCrnError>().eq("error_code", basCrnp.getCrnErr()));
            if (Cools.isEmpty(error)) {
                crnStatusParam.setErrorMsg("");
            } else {
                crnStatusParam.setErrorMsg(error.getErrName());
            }
            crnStatusParams.add(crnStatusParam);
        }
        return R.ok(crnStatusParams);
    }

}