package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.task.escalationParam.RgvTaskReportingParam;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.common.CodeRes;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
 * Created by IX on 2024/10/01
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasRgvServiceImpl basRgvService;
    @Autowired
    private BasDevpPositionService basDevpPositionService;
    @Autowired
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;

    @Value("${constant-parameters.taskRunPerimeter}")
    private Long taskRunPerimeter;
    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
    @Value("${constant-parameters.proportion}")
    private Long proportion;
    @Value("${constant-parameters.acceleration}")
    private Long acceleration;
    @Value("${constant-parameters.rgvCount}")
    private Long rgvCount;
    @Value("${constant-parameters.rgvDate}")
    private Double rgvDate;
    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.reportOutPath}")
    private String wmsOutPath;
    @Value("${wms.reportSwitch}")
    private boolean reportSwitch;
    @Value("${wms.reportSwitchAuto}")
    private boolean reportSwitchAuto;

    /*
     * 验证许可证是否有效
     * */
    public synchronized boolean licenseVerify() {
        try{
//            if (true) {
//                return true;
//            }
            return new LicenseVerify().verify();
        } catch (Exception e){
            log.info("许可证验证失败！！异常：{}",e.getMessage());
        }
        return false;
    }

    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized int[][] getStePositionNearby(Integer siteNo) {
        try {
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            if (basDevpPositions.isEmpty()) {
                log.error("获取所有站点信息异常");
                return null;
            }
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getDevNo().equals(siteNo)) {
                    sitePosition = basDevpPosition.getPlcPosition();
                    break;
                }
            }
            List<List<Long>> rgvPositionList = new ArrayList<>();
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                List<Long> rgvPosition = new ArrayList<>();
                rgvPosition.add(rgvProtocol.getRgvNo().longValue());
                rgvPosition.add(rgvProtocol.getRgvPos());
                rgvPositionList.add(rgvPosition);
            }
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
            if (rgvNo == -1) {
                log.info("更新小车排序信息异常={}", rgvNo);
                return null;
            }
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
            }
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return ints;
            }
//            String[] oldList = new String[ints.length];
//            for (int[] rgv : ints){
//                oldList[rgv[0]-1] = Arrays.toString(rgv);
//            }
            int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
            return rgvList;


        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
        }
        return null;

    }

    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePosition() {
        try {
            boolean sign = false;
            Integer rgvNo = 0;
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle.getStatus() != 0){
                    sign = true;
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    sign = true;
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM  && rgvProtocol.getStatusType() != RgvStatusType.WALK)) {
                    sign = true;
                } else {
                    rgvNo = basCircularShuttle.getRgvNo();
                    break;
                }
            }
            if (sign && rgvNo != 0) {
                int[][] ints = new int[basCircularShuttleList.size()][2];
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
                }
//                String[] oldList = new String[ints.length];
//                for (int[] rgv : ints){
//                    oldList[rgv[0]-1] = Arrays.toString(rgv);
//                }
                int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
//                String[] newList = new String[rgvList.length];
//                for (int[] rgv : rgvList){
//                    newList[rgv[0]-1] = Arrays.toString(rgv);
//                }

//                log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                    basCircularShuttle.setRgvId(rgv[1]);
                    basCircularShuttleService.updateById(basCircularShuttle);
                }
            }

        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
        }
    }

    /**
     * 站点任务检测  下发小车取放任务
     */
    public synchronized void DevpTaskNoRun() {

        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
            if (wrkMasts.isEmpty()) {
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds <= 1000) {
                return;
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
            BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
            List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
//            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
            List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll, basDevpPositionsListUN);
            //下发任务
//            taskDown(wrkMastLists);
            taskDown(wrkMastListAll);
        } catch (Exception e) {
            log.error("自动下发小车任务失败，异常：" + e);
        }

    }

    //获取小车取放任务列表失败
    public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
        List<Integer> sourceStaNoList = new ArrayList<>();

        for (List<Integer> siteList : siteListAll){
            List<List<WrkMast>> wrkMastLists = new ArrayList<>();
            try {
                List<WrkMast> wrkMastlistA = new ArrayList<>();
                List<WrkMast> wrkMastlistB = new ArrayList<>();
                List<WrkMast> wrkMastlistC = new ArrayList<>();
                List<WrkMast> wrkMastlistD = new ArrayList<>();
                for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
                    List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                    for (WrkMast wrkMast : wrkMastList) {
                        if (!Cools.isEmpty(wrkMast)) {
                            if (siteList.contains(wrkMast.getSourceStaNo())){
                                if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){
                                    List<WrkMast> wrkMastListS = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                                    if (wrkMastListS.isEmpty()){
                                        continue;
                                    }
                                } else {
                                    continue;
                                }
                                long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMast.getModiTime(), new Date());

                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistA.add(wrkMast);
                                    } else {
                                        wrkMastlistC.add(wrkMast);
                                    }
                                } else {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistB.add(wrkMast);
                                    } else {
                                        wrkMastlistD.add(wrkMast);
                                    }
                                }
                            }
                        }
                    }
                }
                wrkMastLists.add(wrkMastlistA);
                wrkMastLists.add(wrkMastlistB);
                wrkMastLists.add(wrkMastlistC);
                wrkMastLists.add(wrkMastlistD);
//                return wrkMastLists;
                wrkMastListAll.add(wrkMastLists);
            } catch (Exception e) {
                log.error("获取小车取放任务列表失败，异常：" + e);
            }
        }
        return wrkMastListAll;
    }

    //获取小车取放任务列表失败
    public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
        List<List<WrkMast>> wrkMastLists = new ArrayList<>();
        try {
            List<WrkMast> wrkMastlistA = new ArrayList<>();
            List<WrkMast> wrkMastlistB = new ArrayList<>();
            for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                for (WrkMast wrkMast : wrkMastList) {
                    if (!Cools.isEmpty(wrkMast)) {
                        if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                            wrkMastlistA.add(wrkMast);
                        } else {
                            wrkMastlistB.add(wrkMast);
                        }
                    }
                }
            }
            wrkMastLists.add(wrkMastlistA);
            wrkMastLists.add(wrkMastlistB);
            return wrkMastLists;
        } catch (Exception e) {
            log.error("获取小车取放任务列表失败，异常：" + e);
            return wrkMastLists;
        }
    }

    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {
        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        int wrkMastRunCount = 0;
        long devperimeter = 0L;
        try{
            for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
                List<Integer> rgvNoRN = new ArrayList<>();
                runRgv:
                for (List<WrkMast> wrkMastList : wrkMastLists) {
                    for (WrkMast wrkMast : wrkMastList) {

                        int[][] stePositionNearby = getStePositionNearby(wrkMast.getSourceStaNo());
                        if (stePositionNearby==null){
                            break  runRgv;
                        }

                        int[] rgvListRun = new int[stePositionNearby.length];
                        for (int[] rgvNo:stePositionNearby){
                            rgvListRun[rgvNo[0]-1] = rgvNo[1];
                        }

                        for (int rgvNo : rgvListRun){
                            if (rgvNoRN.contains(rgvNo)){
                                continue;
                            }

                            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
                            if (basCircularShuttle.getStatus() != 0){
                                continue ;
                            }
                            long rgvId = basCircularShuttle.getRgvId();

                            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                            if (rgvProtocol == null) {
                                continue;
                            }

                            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
                            if (!wrkMasts.isEmpty()) {
                                continue;
                            }
                            if (rgvProtocol != null
                                    && rgvProtocol.modeType == RgvModeType.AUTO
                                    && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                    && rgvProtocol.getTaskNo1() == 0
                                    && rgvProtocol.getRgvPosInt() != 0
                                    && rgvProtocol.getAlarm() == 0) {
                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                                if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                    if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                            rgvNoM.add(rgvProtocol.getRgvNo());
                                            rgvNoRN.add(rgvProtocol.getRgvNo());
                                            if (wrkMastRunCount == 0){
                                                devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                            }
                                            wrkMastRunCount++;
                                            break;
                                        }
                                        continue ;
                                    }
                                } else {
                                    if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                            rgvNoM.add(rgvProtocol.getRgvNo());
                                            rgvNoRN.add(rgvProtocol.getRgvNo());
                                            if (wrkMastRunCount == 0){
                                                devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                            }
                                            wrkMastRunCount++;
                                            break;
                                        }
                                        continue ;
                                    }
                                }

                                if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
                                    double finalVelocity = 0.0;     // 最终速度 (m/s)
                                    double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
                                    if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
//                                List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
//                                if (basDevpPositions.isEmpty()) {
//                                    log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！");
//                                    break runRgv;
//                                }
//                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                        continue;
//                                }
                                    }
                                }

                                rgvNoRN.add(rgvProtocol.getRgvNo());
                                if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
                                    rgvNoR.add(rgvProtocol.getRgvNo());
                                } else {
                                    continue ;
                                }

                                RgvCommand rgvCommand = new RgvCommand();
                                rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                                rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                                rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                                rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                                rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
                                rgvCommand.setCommand((short) 1);   //工位1任务确认
                                rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
                                if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                                    //
                                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                                    wrkMast.setLogErrTime(new Date());
                                    wrkMast.setLogErrMemo("RGV命令下发失败，RGV号={"+rgvId+"}===>跳过");
                                    wrkMastService.updateById(wrkMast);
                                    break runRgv;
                                }
                                log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                                wrkMast.setWrkSts(2L);
                                wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                                Date now = new Date();
                                wrkMast.setAppeTime(now);
                                wrkMast.setCrnStrTime(now);
                                try {
                                    wrkMastService.updateById(wrkMast);
                                    break;
                                } catch (Exception e) {
                                    log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
                                }
                                break runRgv;
                            }
                        }
                    }
                }
            }

        } catch (Exception e){
            log.error("RGV取放货启动命令下发失败，任务数据===> "+JSON.toJSON(wrkMastListAll));
            return;
        }
        try{
            for (Integer rgvNo : rgvNoM){
                if (wrkMastRunCount==0){
                    break;
                }
                if (rgvNoR.contains(rgvNo)){
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                wrkMastRunCount--;
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvProtocol.getAlarm() == 0) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(5,devperimeter))) {
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter);
                        break;
                    } else {
                        log.info("RGV漫游启动命令下发成功，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter);
                    }
                }
            }
        } catch (Exception e){

        }
    }

    //任务完成
    public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                    wrkMast.setWrkSts(3L);
                    Date now = new Date();
                    wrkMast.setAppeTime(now);
                    wrkMast.setCrnEndTime(now);
                    try{
                        try{
                            if (reportSwitch){
                                RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
                                ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam);
                                if (result.getCode()==200){
                                    wrkMast.setWrkSts(4L);
                                    wrkMast.setAppeTime(now);
                                    wrkMastService.updateById(wrkMast);
                                    continue;
                                }else {
                                    log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败1");
                                }
                            } else {
                                //测试用
                                wrkMast.setWrkSts(4L);
                                wrkMast.setAppeTime(now);
                                wrkMastService.updateById(wrkMast);
                                if (reportSwitchAuto) {
                                    WrkMast wrkMast1 = new WrkMast();
                                    int workNo = commonService.getWorkNo(0);
                                    wrkMast1.setWrkNo((long) workNo);
                                    wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ));
                                    wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ));
                                    wrkMast1.setWrkSts(1L);
                                    wrkMast1.setIoType(1);
                                    wrkMast1.setModiTime(now);
                                    wrkMast1.setAppeTime(now);
                                    wrkMast1.setMemo("测试数据");
                                    wrkMastService.insert(wrkMast1);
                                }
                                continue;
                            }
                        } catch (Exception e){
                            log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败，异常信息："+e);
                        }
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ){
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
            }
        }
    }
    public synchronized void rgvCancelWrkMastSta() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) {
                    log.info("{}号小车等待wcs取消，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));

                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }

                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setRgvNo(0);
                    wrkMast.setAppeTime(now);
                    wrkMast.setLogErrTime(now);

                    wrkMast.setLogErrMemo("RGV申请取消任务，RGV号={"+rgvProtocol.getRgvNo()+"}，取消时间："+now);

                    wrkMastService.updateById(wrkMast);

                }
            } catch (Exception e) {
                log.error("小车取消线程报错！" + e);
            }
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvNo) {
        try {
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
                log.error("RGV命令下发失败，RGV号={}", rgvNo);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}", rgvNo);
                return true;
            }
        } catch (Exception e) {
            log.error("RGV命令下发失败，RGV号={}。异常：" + e, rgvNo);
            return false;
        }
    }
}