package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasMapService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleCommandModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.TrafficControlDataModel;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.TrafficControlThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * A*算法地图获取类
 */
@Component
public class NavigateMapData {

    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private DeviceConfigService deviceConfigService;
    @Autowired
    private BasMapService basMapService;
    @Autowired
    private ObjectMapper objectMapper;

    public int[][] getData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            BasMap basMap = basMapService.selectLatestMap(lev);
            String originData = basMap.getOriginData();

            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
            int[][] map = new int[lists.size()][];
            int j = 0;
            for (List<MapNode> list : lists) {
                int[] tmp = new int[list.size()];
                int i = 0;
                for (MapNode mapNode : list) {
                    //将数据添加进二维数组
                    tmp[i++] = mapNode.getValue();
                }
                //数据添加进一维数组
                map[j++] = tmp;
            }

            return map;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    /**
     * 尝试从redis获取数据
     */
    public int[][] getDataFromRedis(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        Object o = redisUtil.get(RedisKeyType.MAP.key + lev);
        if (o == null) {
            return null;
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        return this.getDataFormString(lev, basMap.getData(), mapTypes, whitePoints, shuttlePoints);
    }

    /**
     * 从List数据中获取地图
     */
    public int[][] getDataFormString(Integer lev, String data, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
        int[][] map = new int[lists.size()][];
        int j = 0;
        for (List<MapNode> list : lists) {
            int[] tmp = new int[list.size()];
            int i = 0;
            for (MapNode mapNode : list) {
                //将数据添加进二维数组
                tmp[i++] = mapNode.getValue();
            }
            //数据添加进一维数组
            map[j++] = tmp;
        }

        return map;
    }

    //获取实时地图-JSON格式数据
    public List<List<MapNode>> getJsonData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
            if (data == null) {
                return null;
            }

            BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
            return lists;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    //获取原始地图-JSON格式数据
    public List<List<MapNode>> getJsonOriginData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            BasMap basMap = basMapService.selectLatestMap(lev);
            String originData = basMap.getOriginData();
            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
            //重建数据格式
            List<List<MapNode>> lists = rebuildData(arrayList);
            return lists;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    public int[][] parseJsonDataArr(List<List<MapNode>> lists) {
        int[][] map = new int[lists.size()][];
        int j = 0;
        for (List<MapNode> list : lists) {
            int[] tmp = new int[list.size()];
            int i = 0;
            for (MapNode mapNode : list) {
                //将数据添加进二维数组
                tmp[i++] = mapNode.getValue();
            }
            //数据添加进一维数组
            map[j++] = tmp;
        }

        return map;
    }

    /**
     * 过滤地图数据
     * mapType -1=>无过滤，1=》过滤库位状态DFX，2=》过滤库位状态X
     *
     * @param whitePoints 白名单节点，不需要被过滤
     * @param shuttlePoints 穿梭车节点，需要加载进地图
     */
    public List<List<MapNode>> filterMap(List<NavigationMapType> mapTypes, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        //重建数据格式
        List<List<MapNode>> lists = rebuildData(arrayList);

        List<NavigationMapType> locMapType = new ArrayList<>();
        locMapType.add(NavigationMapType.NONE);
        locMapType.add(NavigationMapType.DFX);
        locMapType.add(NavigationMapType.NORMAL);
        for (NavigationMapType mapType : mapTypes) {
            if(locMapType.contains(mapType)) {
                //载入库位信息
                lists = loadLocMast(mapType.id, lists, lev, whitePoints);
            }

            if (mapType.equals(NavigationMapType.SHUTTLE)) {
                //加载车辆
                lists = loadShuttle(lists, shuttlePoints);
            }

            if (mapType.equals(NavigationMapType.LIFT)) {
                //加载货叉提升机点位
                lists = loadForkLift(lists, lev);
            }

            if(mapType.equals(NavigationMapType.PATH_LOCK)) {
                //加载路径锁
                lists = loadPathLock(lists, lev);
            }

            if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) {
                //加载交通管制
                lists = loadTrafficControl(lists, lev);
            }
        }

        //加载白名单节点
        lists = loadWhite(lists, lev, whitePoints);

        return lists;
    }

    //重建数据格式
    public List<List<MapNode>> rebuildData(List arrayList) {
        List<List<MapNode>> lists = new ArrayList<>();

        //重建数据格式
        for (int i = 0; i < arrayList.size(); i++) {
            Object obj = arrayList.get(i);
            List<MapNode> list = JSON.parseArray(obj.toString(), MapNode.class);
            for (int j = 0; j < list.size(); j++) {
                MapNode mapNode = list.get(j);
                list.set(j, mapNode);
            }
            lists.add(list);
        }

        return lists;
    }

    //载入库位信息
    public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
        //过滤数据
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        try {
            //获取当前楼层库位数据
            List<LocMast> locMasts = locMastService.selectLocByLev(lev);
            for (LocMast locMast : locMasts) {
                Integer row = locMast.getRow1();
                Integer bay = locMast.getBay1();

                boolean whiteFlag = false;//默认不存在白名单
                if (whitePoints != null) {
                    for (int[] whitePoint : whitePoints) {
                        if (whitePoint[0] == row && whitePoint[1] == bay) {
                            //存在白名单
                            whiteFlag = true;
                            break;
                        }
                    }
                }
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }


                List<MapNode> list = lists.get(row);
                MapNode mapNode = list.get(bay);

                if (mapType == NavigationMapType.NONE.id) {
                    //不过滤任何数据
                } else if (mapType == NavigationMapType.DFX.id) {
                    //车辆有货
                    //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                    if (locMast.getLocSts().equals("F")
                            || locMast.getLocSts().equals("D")
                            || locMast.getLocSts().equals("X")
                            || locMast.getLocSts().equals("R")
                            || locMast.getLocSts().equals("P")
                    ) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (locMast.getLocSts().equals("X")) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                }

                mapNode.setLocSts(locMast.getLocSts());
                mapNode.setLocNo(locMast.getLocNo());

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
        }catch (Exception e) {
            e.printStackTrace();
        }

        return lists;
    }

    //加载车辆
    public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
        //加载车辆坐标到地图中
        if (shuttlePoints != null) {
            for (int[] points : shuttlePoints) {
                int x = points[0];
                int y = points[1];
                List<MapNode> list = lists.get(x);
                MapNode mapNode = list.get(y);
                mapNode.setValue(MapNodeType.CAR.id);//设置为车辆代码66
                //更新list
                list.set(y, mapNode);
                lists.set(x, list);
            }
        }

        return lists;
    }

    //加载白名单节点
    public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
        //加载白名单节点
        if (whitePoints != null) {
            List<List<MapNode>> realMap = getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图
            for (int[] points : whitePoints) {
                //获取原始节点数据
                int x = points[0];
                int y = points[1];
                List<MapNode> rows = realMap.get(x);
                MapNode col = rows.get(y);

                List<MapNode> list = lists.get(x);
                MapNode mapNode = list.get(y);
                mapNode.setValue(col.getValue());//恢复原始节点

                //更新list
                list.set(y, mapNode);
                lists.set(x, list);
            }
        }
        return lists;
    }

    //加载货叉提升机点位
    public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer lev) {
        try {
            //加载货叉提升机放货点位数据
            List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                    .eq("device_type", String.valueOf(SlaveType.ForkLift)));
            for (DeviceConfig device : forkliftList) {
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
                if (forkLiftThread == null) {
                    continue;
                }

                for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
                    if (staProtocol.getLev() != lev) {
                        continue;
                    }
                    int row = Utils.getRow(staProtocol.getLocNo());
                    int bay = Utils.getBay(staProtocol.getLocNo());

                    List<MapNode> list = lists.get(row);
                    MapNode mapNode = list.get(bay);

//                    if (mapType == NavigationMapType.DFX.id) {
//                        //车辆有货
//                        if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
//                            mapNode.setValue(MapNodeType.DISABLE.id);
//                        }
//                    } else {
//                        if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
//                            mapNode.setValue(MapNodeType.CAR.id);
//                        }
//                    }

                    //更新list
                    list.set(bay, mapNode);
                    lists.set(row, list);
                }

            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return lists;
    }

    //加载路径锁
    public List<List<MapNode>> loadPathLock(List<List<MapNode>> lists, Integer lev) {
        try {
            HashMap<String, Object> lockMap = new HashMap<>();
            Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
            if (o != null) {
                lockMap = (HashMap<String, Object>) o;
            }

            for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
                String key = entry.getKey();
                int row = Utils.getRow(key);
                int bay = Utils.getBay(key);

                List<MapNode> list = lists.get(row);
                MapNode mapNode = list.get(bay);

                //节点设置成路径锁
                mapNode.setValue(MapNodeType.LOCK.id);

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return lists;
    }

    //加载交通管制
    public List<List<MapNode>> loadTrafficControl(List<List<MapNode>> lists, Integer lev) {
        try {
            TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
            if (trafficControlThread == null) {
                throw new CoolException("init traffic control thread error");
            }

            List<TrafficControlDataModel> trafficList = trafficControlThread.getAllTrafficControl();
            for (TrafficControlDataModel trafficControlDataModel : trafficList) {
                List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList();
                NavigateNode startNode = totalNodeList.get(0);
                if (startNode.getZ() != lev) {
                    continue;
                }

                for (NavigateNode node : totalNodeList) {
                    int row = node.getX();
                    int bay = node.getY();

                    List<MapNode> list = lists.get(row);
                    MapNode mapNode = list.get(bay);

                    //节点设置成Disable
                    mapNode.setValue(MapNodeType.DISABLE.id);

                    //更新list
                    list.set(bay, mapNode);
                    lists.set(row, list);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return lists;
    }

}