package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleTaskModeType;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.core.io.ClassPathResource;
import org.springframework.stereotype.Component;

import java.io.*;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

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

    private Integer lev;//地图楼层

    public Integer getLev() {
        return lev;
    }

    public void setLev(Integer lev) {
        this.lev = lev;
    }

    public int[][] getData() {
        return getData(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    public int[][] getData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
            Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
            if (object == null) {
                return null;
            }

            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(object.toString(), ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapType, 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;

//            String mapFilename = "map_" + lev + ".json";
//            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
//            InputStream inputStream = classPathResource.getInputStream();
//            byte[] buffer = new byte[inputStream.available()];
//            inputStream.read(buffer);
//            File file = File.createTempFile("prefix","suffix");
//            try (OutputStream outStream = new FileOutputStream(file)) {
//                outStream.write(buffer);
//            }
//
//            StringBuffer stringBuffer = new StringBuffer();
//            if (file.isFile() && file.exists()) {
//                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
//                BufferedReader br = new BufferedReader(isr);
//                String lineTxt = null;
//                while ((lineTxt = br.readLine()) != null) {
//                    stringBuffer.append(lineTxt);
//                }
//                br.close();
//
//                //解析json地图数据
//                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
//                List<List<MapNode>> lists = filterMap(mapType, 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;
//                }
//
//                if (!file.delete()) {
//                    System.out.println("临时文件删除失败");
//                }
//                return map;
//            } else {
//                System.out.println("文件不存在!");
//            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

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

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

    /**
     * 从List数据中获取地图
     */
    public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapType, 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JSON格式数据
    public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
            Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
            if (object == null) {
                return null;
            }

            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(object.toString(), ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
            return lists;


//            String mapFilename = "map_" + lev + ".json";
//            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
//            InputStream inputStream = classPathResource.getInputStream();
//            byte[] buffer = new byte[inputStream.available()];
//            inputStream.read(buffer);
//            File file = File.createTempFile("prefix","suffix");
//            try (OutputStream outStream = new FileOutputStream(file)) {
//                outStream.write(buffer);
//            }
//
//            StringBuffer stringBuffer = new StringBuffer();
//            if (file.isFile() && file.exists()) {
//                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
//                BufferedReader br = new BufferedReader(isr);
//                String lineTxt = null;
//                while ((lineTxt = br.readLine()) != null) {
//                    stringBuffer.append(lineTxt);
//                }
//                br.close();
//
//                //解析json地图数据
//                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
//                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
//
//                if (!file.delete()) {
//                    System.out.println("临时文件删除失败");
//                }
//
//                return lists;
//            } else {
//                System.out.println("文件不存在!");
//            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    //获取JSON格式数据
    public List<List<MapNode>> getJsonData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
            Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
            if (object == null) {
                return null;
            }

            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(object.toString(), ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
            return lists;

//            String mapFilename = "map_" + lev + ".json";
//            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
//            InputStream inputStream = classPathResource.getInputStream();
//            byte[] buffer = new byte[inputStream.available()];
//            inputStream.read(buffer);
//            File file = File.createTempFile("prefix","suffix");
//            try (OutputStream outStream = new FileOutputStream(file)) {
//                outStream.write(buffer);
//            }
//
//            StringBuffer stringBuffer = new StringBuffer();
//            if (file.isFile() && file.exists()) {
//                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
//                BufferedReader br = new BufferedReader(isr);
//                String lineTxt = null;
//                while ((lineTxt = br.readLine()) != null) {
//                    stringBuffer.append(lineTxt);
//                }
//                br.close();
//
//                //解析json地图数据
//                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
//                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
//
//                if (!file.delete()) {
//                    System.out.println("临时文件删除失败");
//                }
//
//                return lists;
//            } else {
//                System.out.println("文件不存在!");
//            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    /**
     * 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(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        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);
        }

        //过滤数据
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        //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(-1);//禁用节点
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
                //过滤库位状态X
                if (locMast.getLocSts().equals("X")) {
                    mapNode.setValue(-1);//禁用节点
                }
            }

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

        //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(66);//设置为车辆代码66
                //更新list
                list.set(y, mapNode);
                lists.set(x, list);
            }
        }

        //加载白名单节点
        if (whitePoints != null) {
            List<List<MapNode>> realMap = getJsonData(lev, -1, 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;
    }

}