package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

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

/**
 * 四向穿梭车接口
 */
@Slf4j
@RestController
@RequestMapping("/shuttle")
public class ShuttleController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
    public R steStateTable(){
        List<ShuttleStateTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
            // 表格行
            ShuttleStateTableVo vo = new ShuttleStateTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //四向穿梭车号
            list.add(vo);
            // 获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            if (shuttleThread == null) {
                vo.setStatus(ShuttleProtocolStatusType.OFFLINE.id);//设备离线
                vo.setBusyStatus(ShuttleProtocolStatusType.OFFLINE.desc);
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                continue;
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().id);//当前任务状态
            vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
            LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
            if (currentLocMast == null) {
                vo.setLocNo("");//获取当前库位号
                vo.setLocNoX(0);
                vo.setLocNoY(0);
                vo.setLocNoLev(0);//当前库位层高
            }else {
                vo.setLocNo(currentLocMast.getLocNo());//获取当前库位号
                int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//获取库位号XY坐标
                vo.setLocNoX(locNoXY[0]);
                vo.setLocNoY(locNoXY[1]);
                vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//当前库位层高
            }
            vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//电池电量
            vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "°");//电池温度
            if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                vo.setErrorCode(shuttleProtocol.getErrorCodeType());//错误编号
            }
            vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
                vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
                vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
                vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
                vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
            }
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//错误信息码
            }
            vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//当前的升降伺服负载率
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//当前的行走伺服负载率
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/shuttle/msg")
    @ManagerAuth(memo = "四向穿梭车数据表")
    public R steMsgTable(){
        List<ShuttleMsgTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
            // 表格行
            ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //  四向穿梭车号
            list.add(vo);
            // 获取穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }
            if (shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
            if (shuttleProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());//源库位
                    vo.setDistLocNo(wrkMast.getLocNo());//目标库位
                }
            }
            if (shuttleProtocol.getProtocolStatusType() != null) {
                vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态
            }
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setRunSpeed(basShuttle.getRunSpeed());//四向穿梭车运行速度(设置)
            vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
        }
        return R.ok().add(list);
    }

    @PostMapping("/latest/data/shuttle")
    @ManagerAuth(memo = "四向穿梭车实时数据")
    public R shuttleLatestData(){
        return R.ok();
    }

    @PostMapping("/output/shuttle")
    @ManagerAuth
    public R steOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.SHUTTLE.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    @GetMapping("/detl/{shuttleNo}")
    public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleDataVo vo = new ShuttleDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
                if (!Cools.isEmpty(basShuttle)) {
                    vo.setWorkNo(basShuttle.getWrkNo());
                    vo.setPakMk(basShuttle.getPakMk());
                }
                break;
            }
        }
        return R.ok().add(vo);
    }

    @GetMapping("/sensor/detl/{shuttleNo}")
    public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                // 获取穿梭车信息
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    return R.error("设备不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    return R.error("设备不在线");
                }

                // 穿梭车异常 -----------

                // 穿梭车提示信息 ----------------------

                // 状态信息 -------------

                break;
            }
        }
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth
    public R steUpdate(ShuttleDataVo vo){
        BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
        if (basShuttle == null) {
            return R.error();
        }
        // 获取四向穿梭车信息
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
        }
//        if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
//            if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
//                throw new CoolException("服务器错误");
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } else {
            throw new CoolException("命令下发失败");
        }

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
        }
        return R.ok();
    }

    @PostMapping("/runSpeed/{shuttleNo}")
    @ManagerAuth
    public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {

        BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
        if (basShuttle == null) {
            return R.error("四向穿梭车不存在");
        }
        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setChargeLine(chargeLine);
        if (!basShuttleService.updateById(basShuttle)) {
            return R.error();
        }
        return R.ok();
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "手动操作")
    @PostMapping("/operator/shuttle")
    public R shuttleOperator(ShuttleOperatorParam param){
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.parse(BaseRes.PARAM);
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                return R.parse(BaseRes.PARAM);
            }
            assignCommand.setSourceLocNo(param.getSourceLocNo());
            assignCommand.setLocNo(param.getDistLocNo());
        }

        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    throw new CoolException("四向穿梭车不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    throw new CoolException("四向穿梭车不在线");
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
                assignCommand.setTaskNo((short) 9999);
                assignCommand.setAuto(false);//手动模式

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return R.error();
    }

}